CN113876432A - Redundant parallel femoral fracture reduction robot - Google Patents
Redundant parallel femoral fracture reduction robot Download PDFInfo
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- CN113876432A CN113876432A CN202111495677.3A CN202111495677A CN113876432A CN 113876432 A CN113876432 A CN 113876432A CN 202111495677 A CN202111495677 A CN 202111495677A CN 113876432 A CN113876432 A CN 113876432A
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- 230000009467 reduction Effects 0.000 title claims abstract description 36
- 208000008924 Femoral Fractures Diseases 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 146
- 210000000689 upper leg Anatomy 0.000 claims description 12
- 208000010392 Bone Fractures Diseases 0.000 abstract description 7
- 208000006670 Multiple fractures Diseases 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000000642 iatrogenic effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 206010017076 Fracture Diseases 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 3
- 206010061213 Iatrogenic injury Diseases 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010016454 Femur fracture Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/74—Devices for the head or neck or trochanter of the femur
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The invention belongs to the technical field of medical instruments, in particular to a redundant parallel femoral fracture reduction robot, which aims to solve the problems that the reduction operation of a surgical robot in the prior art is not accurate enough, the positions of some broken bones are difficult to reach and iatrogenic damage can be caused in the reduction operation, the redundant parallel femoral fracture reduction robot provided by the application comprises a movable platform, and a redundant driving base, a parallel execution mechanism and a clamping device which are sequentially arranged on the movable platform, wherein the redundant driving base can be used for different parallel structures, and according to the characteristic that the base has 9 degrees of freedom, the parallel mechanism arranged on the base can realize redundant driving, the position and posture working space of the robot is increased, the flexibility of the mechanism is improved, the singular points of the mechanism are avoided, the posture of the robot is easier to control, and the application has universality, the robot can be applied to different occasions, and the common defects of the parallel robots are improved.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a redundant parallel femoral fracture reduction robot.
Background
The traditional femur fracture reduction operation mainly adopts a method that the X-ray imaging technology is used for multiple times in the operation process to obtain the positions of two ends of a fracture part in real time, and then a doctor directly carries out manual reduction according to the obtained position information or assists the doctor to carry out reduction operation by a simple traction mechanism, the method highly depends on the clinical operation experience of the doctor and has higher requirements on the physical ability of the doctor; and because X-ray irradiation is required for a plurality of times in order to ensure the reduction accuracy in the operation process, the doctor is exposed to the X-ray for a long time in the operation process, and in recent years, the femoral fracture damage cases are more and more, and the accumulated damage to the doctor is more and more serious.
With the development of robotics and medical image navigation technologies, the adoption of robots for fracture reduction surgery has gained more and more attention. Compared with the traditional reduction surgery, the surgery using the surgical robot has remarkable advantages. The surgical robot has excellent preoperative planning capability, an operation scheme can be made before entering an operating room, and the resetting operation is carried out according to a made path; the operation robot is used for remote operation, so that the time of exposing a doctor to X-rays can be greatly reduced, and the health of medical care personnel is effectively protected; the operation force of the surgical robot is controllable, the positioning precision is high, accurate positioning can be effectively completed, and meanwhile, the dependence on doctor experience and physical ability is reduced.
In the existing scheme of adopting a robot to carry out fracture reduction operation, a common Stewart parallel mechanism is mostly adopted to carry out reduction operation. The classic Stewart parallel mechanism has the characteristics of high rigidity, high accuracy, strong bearing capacity and the like, and is widely applied to the fields of flight simulators, surgical robots and the like. However, the traditional Stewart parallel mechanism has the problems of small working space, singularity, complexity and the like, so that the resetting operation of the surgical robot based on the mechanism is not accurate enough, the positions of some broken bones are difficult to reach, iatrogenic injuries can be caused in the resetting operation, and the like.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems that the resetting operation of the surgical robot in the prior art is not accurate enough, the positions of some broken bones are difficult to reach, and iatrogenic injuries are possibly caused in the resetting operation, the application provides a redundant parallel femoral fracture resetting robot, which comprises a movable platform, and a redundant driving base, a parallel actuating mechanism and a clamping device which are sequentially arranged on the movable platform.
The redundant driving base comprises a mounting plate, the lower end of the mounting plate is connected with the movable platform, an annular guide rail and a plurality of linear moving mechanisms are arranged on the upper surface of the mounting plate, each linear moving mechanism comprises a first end and a second end, the first ends are opposite to the second ends, and the first ends of the linear moving mechanisms are respectively rotatably arranged on the annular guide rail and can move along the annular guide rail; the annular guide rail is vertically provided with a supporting piece in the center, the supporting piece has a degree of freedom rotating around the axis of the supporting piece, the second end of each linear moving mechanism is connected with the supporting piece, and the angle between each linear moving mechanism and the mounting plate is adjustable.
The parallel execution mechanism comprises a driving branched chain component and a movable platform, the upper end of the driving branched chain component is connected with the movable platform, the lower end of the driving branched chain component is connected with a moving part of the linear moving mechanism, and the moving part can move along a fixed part of the linear moving mechanism.
The clamping device is arranged on the movable platform of the parallel execution mechanism and used for clamping the Kirschner wire.
In some preferred technical solutions, a vertical lifting mechanism is disposed at an upper end of the movable platform, and the vertical lifting mechanism is configured to drive the mounting plate to ascend or descend.
In some preferred technical schemes, the movable platform further comprises universal wheels and a driving control box, the universal wheels are uniformly arranged at the bottom of the driving control box, and the vertical lifting mechanism is arranged at the top of the driving control box.
In some preferred technical solutions, the number of the linear moving mechanisms is three, the driving branched chain assembly includes six groups of identical driving branched chains, a connection end of the driving branched chain connected to the moving portion is a first connection end, the first connection ends of the six groups of driving branched chains are arranged in a pairwise proximity manner to form first support ends, and the three first support ends are respectively connected to the moving portions of the three linear moving mechanisms.
In some preferable technical schemes, the connecting end of the driving branched chain connected with the movable platform is a second connecting end, the second connecting ends of the six groups of driving branched chains are arranged in a pairwise close manner to form second supporting ends, and the second supporting ends are uniformly arranged along the circumferential direction of the movable platform.
In some preferred technical solutions, the second connecting ends of the driving branched chains are connected through a rotating connection member, and the rotating connection member has two rotating ends.
In some preferred technical solutions, the support member includes a central mounting column, the central mounting column is vertically disposed at the center of the annular guide rail, the central mounting column is uniformly provided with three arc-shaped limiting rails along the circumferential direction, and the arc-shaped limiting rails are matched with the second end of the linear moving mechanism.
In some preferred technical schemes, the arc-shaped limiting track is an inferior arc shape.
In some preferred technical solutions, the linear moving mechanism is a ball screw mechanism, the fixed portion is a screw having a rotational degree of freedom around its axis, and the moving portion is a slider that is matched with the screw.
In some preferred technical solutions, the clamping device includes an annular fixing mechanism, the annular fixing mechanism is provided with a plurality of fixing portions along the circumference, the fixing portions are used for fixing the kirschner wire, and the annular fixing mechanism is used for fixing the femur.
The invention has the beneficial effects that: the redundant parallel femoral fracture reduction robot solves the problems of complex pose control, large working space limitation and small flexibility of a surgical robot in the prior art, increases the position and posture working space of the surgical robot by adopting a redundant driving scheme, improves the flexibility of a mechanism, avoids singular points of the mechanism and enables the pose of the surgical robot to be controlled more easily.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.
Fig. 1 is a schematic overall structure diagram of a redundant parallel femoral fracture reduction robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a circular guide rail according to an embodiment of the present invention.
FIG. 4 is a schematic structural diagram of a supporting member according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a parallel actuator according to a first embodiment of the present invention.
Fig. 6 is a schematic diagram of a parallel actuator according to a second embodiment of the present invention.
List of reference numerals: 100-a movable platform; 200-redundant drive base; 300-parallel actuator; 400-a clamping device; 1-a vertical lifting mechanism; 2-bolt; 3-driving a control box; 4-a bottom plate; 5-universal wheels; 6-an annular guide rail slide block; 7-a ring-shaped guide rail; 8-annular guide rail mounting holes; 9-bolt; 10-mounting a plate; 11-a linear movement mechanism; 12-arc limit track; 13-a central mounting post; 14-linear slide block; 15-hook hinge; 16-a drive branch; 17-ball pair; 18-a moving platform; 19-a stud; 20-clamping and positioning the platform; 21-a stationary saddle; 22-bolt; 23-k-wire; 25-spherical hinge; 26-upper support arm; 27-lower support arm.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention relates to a redundant parallel femoral fracture reduction robot which comprises a movable platform, and a redundant driving base, a parallel execution mechanism and a clamping device which are sequentially arranged on the movable platform.
The redundant driving base comprises a mounting plate, the lower end of the mounting plate is connected with the movable platform, an annular guide rail and a plurality of linear moving mechanisms are arranged on the upper surface of the mounting plate, each linear moving mechanism comprises a first end and a second end, the first ends are opposite to the second ends, and the first ends of the linear moving mechanisms are respectively rotatably arranged on the annular guide rail and can move along the annular guide rail; the annular guide rail is vertically provided with a supporting piece in the center, the supporting piece has a degree of freedom rotating around the axis of the supporting piece, the second end of each linear moving mechanism is connected with the supporting piece, and the angle between each linear moving mechanism and the mounting plate is adjustable.
The parallel execution mechanism comprises a driving branched chain component and a movable platform, the upper end of the driving branched chain component is connected with the movable platform, the lower end of the driving branched chain component is connected with a moving part of the linear moving mechanism, and the moving part can move along a fixed part of the linear moving mechanism.
The clamping device is arranged on the movable platform of the parallel execution mechanism and used for clamping the Kirschner wire.
In order to more clearly explain the redundant parallel femoral fracture reduction robot of the present invention, a preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
As a preferred embodiment of the present invention, the redundant parallel femoral fracture reduction robot of the present invention, as shown in fig. 1, includes a movable platform 100, and a redundant driving base 200, a parallel actuator 300 and a clamping device 400, which are sequentially mounted on the movable platform 100. The movable platform 100 is used for enabling the whole robot to perform position translation on the ground, the redundant driving base 200 is installed on the movable platform 100 and can move in the vertical direction to adapt to different clinical scenes, the parallel execution structure 300 is installed on the redundant driving base 200 and is used for providing main reset traction force, and the clamping device 400 is fixed on the movable platform of the parallel execution structure 300 and is used for connecting the femur and the robot, so that the driving force of the robot can act on the femur.
Specifically, referring to fig. 2, a vertical lift mechanism 1 is provided at an upper end of a movable platform 100, the vertical lift mechanism 1 is used for driving a mounting plate 10 to vertically lift, the mounting plate is provided with a plurality of mounting holes, and the vertical height of the mounting platform can be adjusted by adjusting the vertical lift mechanism. I.e., the redundant driving base 200, the parallel actuator 300 and the clamping device 400, the degree of freedom of vertical lifting is improved. The movable platform 100 further comprises universal wheels 5 and a driving control box 3, the universal wheels 5 are uniformly arranged on a bottom plate 4 of the driving control box 3, and the vertical lifting mechanism 1 is arranged at the top of the driving control box 3. The universal wheels 5 provide translation capability for the movable platform, and the platform position is adjusted to enable the whole robot to be closer to the operating table, so that the operation robot can perform an operation conveniently. The movable platform can actively move by means of the bottom universal wheels, and when the movable platform moves to a specified position, the universal wheels can be locked to enable the movable platform to be fixed at a certain position. Furthermore, a driving plate, a control plate, a wire harness and other electrical equipment for controlling a driving motor of the robot are arranged in the driving control box 3, so that the whole structure is more integrated, the whole robot can move conveniently, and the maintenance, the inspection and the arrangement of the electrical equipment are facilitated; meanwhile, the drive control box 3 provides a mounting position for the metal support, so that the integral structure is more integrated.
The redundant driving base 200 comprises a mounting plate 10, the lower end of the mounting plate 10 is connected with the movable platform 100, the upper surface of the mounting plate 100 is provided with an annular guide rail 7 and a plurality of linear moving mechanisms 11, each linear moving mechanism 11 comprises a first end and a second end, the first end is opposite to the second end, and the first end of each linear moving mechanism 11 is rotatably arranged on the annular guide rail 7 and can move along the annular guide rail 7; the center of the annular guide rail 7 is vertically provided with a supporting piece, the supporting piece has a degree of freedom rotating around the axis of the supporting piece, the second end of each linear moving mechanism 11 is connected with the supporting piece, and the angle between each linear moving mechanism 11 and the mounting plate 10 is adjustable. Preferably, the angle range of the linear moving mechanism 11 and the mounting plate 10 is
And (4) degree.
Preferably, the first end of the linear moving mechanism 11 is mounted on the circular guide 7 through the circular guide slider 6. As shown in fig. 3, a mounting plate 10 is fixed to the vertical lift mechanism 1 by bolts 9, the endless guide 7 is fixed to the mounting plate 10 by bolts penetrating through the endless guide mounting holes 8, and the driving member endless guide slider 6 is mounted on the endless guide 7 and is driven by a motor so as to be movable in the circumferential direction. As shown in the attached drawings, the mounting plate of the application is of a disc structure, and the mounting plate structure can be flexibly arranged by a person skilled in the art.
Preferably, the circular guide rail slide 6 is driven to move and rotate by a motor; or the linear moving mechanism is driven by a motor to move along the annular guide rail 7, the vertical lifting mechanism is arranged at one end of the linear moving mechanism 11, which is far away from the annular guide rail 7, and the vertical lifting mechanism is lifted to change the angle between the linear moving mechanism 11 and the mounting plate 10. The rotation of the linear moving mechanism 11 and the driving manner of the circular guide rail slider can be flexibly set by those skilled in the art, and will not be described herein again.
Further, the linear movement mechanism 11 of the present application includes a fixed portion and a movable portion, and the movable portion can linearly move along a preset rail of the fixed portion. Preferably, the linear moving mechanism 11 in the present application is a ball screw mechanism, the fixed part of which is a screw having a degree of freedom of rotation about its axis, and the moving part is a linear slider 14 matching with the screw.
Referring to fig. 4, fig. 4 illustrates a preferred embodiment of the support member of the present application, in which the support member includes a central mounting post 13, the central mounting post 13 is vertically disposed at the center of the ring-shaped guide rail 7, the central mounting post 13 is uniformly provided with three arc-shaped limiting rails 12 along the circumferential direction, and the arc-shaped limiting rails 12 are matched with the second end of the linear moving mechanism 11. Further, the arc-shaped stopper rail 12 is of a minor arc shape to limit an angle between the linear moving mechanism 11 and the mounting plate 10
。
The linear moving mechanism 11 is arranged on the annular guide rail sliding block 6 and can rotate around the annular guide rail sliding block through the driving of a motor; the arc-shaped limiting track is connected to the central mounting column 13 and can rotate around the central mounting column 13, when a robot works, the freedom degree of the arc-shaped limiting track 12 rotating around the robot can be locked, one end of the linear moving mechanism 11 can move along a groove in the arc-shaped limiting track 12, the arc-shaped limiting track 12 can provide lateral support, and the rigidity of the mechanism is improved; the driving part linear slide block 14 is driven by a motor to perform linear motion in the linear moving mechanism; one end of the linear moving mechanism 11 is installed on the annular guide rail sliding block 6, and the other end of the linear moving mechanism 11 is connected with the arc-shaped limiting track 12, so that the whole linear moving mechanism 11 can rotate around the annular guide rail sliding block 6 and can also rotate around the central installation column 13. The linear sliding block 14 in the linear moving mechanism can do linear motion along a lead screw in the linear moving mechanism 11, and the linear sliding block 14 is connected with a direct driving part of a movable platform, so that the linear sliding block 14 has 3 degrees of freedom, namely linearly moves along the lead screw, rotates around a central mounting column and rotates around the annular guide rail sliding block, and the part is a core part of redundant driving. And the linear slide block 14 at the final output end has 3 degrees of freedom, and the whole redundant driving base has 9 degrees of freedom.
The annular guide rail 7 is fixed on the mounting plate 10 through mechanical connection, the annular guide rail slide block 6 is connected on the annular guide rail 7, the linear moving mechanism can actively move on the annular guide rail 7 through a motor, the upper end of the annular guide rail sliding block 6 is provided with a pin hole, one end of the linear moving mechanism 11 is provided with a cylindrical pin, the other end of the linear moving mechanism 11 is provided with a limit pin, the linear moving mechanism 11 comprises a linear sliding block, the linear sliding block is provided with a mounting hole, the center mounting column 13 and the annular guide rail 7 share the same center, the bottom of the device is fixed on the mounting plate 10 through mechanical connection, the arc-shaped limiting track 12 is connected on the central mounting column 13, so that the device can freely rotate or be locked around the central mounting column 13, the limit pin of the linear moving mechanism 11 is connected with the arc-shaped limit track 12, so that the linear moving mechanism 11 can only rotate along the direction of the arc-shaped limit track.
Further, a tooth-shaped structure is arranged at the joint of the central mounting column 13 and the bottom end of the arc-shaped limiting rail 12, so as to realize locking of the central mounting seat 13. Specifically, one side of the central mounting column 13 is provided with a locking mechanism, the locking mechanism has a degree of freedom that goes up and down along the vertical direction, the bottom of the central mounting column 13 extends outwards to form a first assembling portion, a plurality of first assembling portions are closely and uniformly distributed along the circumference of the central mounting column 13, the bottom end of the locking mechanism is provided with a second assembling portion matched with the first assembling portion, the locking mechanism can go up or down under the control of a driving device, when the locking mechanism goes down, the first assembling portion is matched with the second assembling portion, and then the degree of freedom that the central mounting column 13 rotates around the axis of the central mounting column is limited, when the locking mechanism goes up, the first assembling portion is separated from the second assembling portion, and the central mounting column 13 recovers the degree of freedom that rotates around the axis of the central mounting column. The locking mechanism of the present application is only a preferred embodiment, and those skilled in the art can flexibly set the locking mechanism to limit the freedom of the central mounting post 13 to rotate around its own axis according to actual conditions.
Different types of parallel actuators 300 may be mounted based on the linear slides 14 on the redundant drive base 200. The parallel actuator 300 includes a driving branch chain assembly and a movable platform 18, the upper end of the driving branch chain assembly is connected to the movable platform 18, the lower end of the driving branch chain assembly is connected to a movable portion of the linear movement mechanism 11, and the movable portion can move along a fixed portion of the linear movement mechanism. The movable platform 18 is connected with the linear sliding block through a driving branched chain, and the whole robot is provided with 3 linear moving mechanisms, so that the movable platform has 15 degrees of freedom, and the whole robot belongs to redundant driving.
The upper end of the movable platform 18 is provided with a mounting hole, and different actuators can be mounted according to different requirements. The present application preferably uses the movable platform 18 for securing the k-wire 23. So that in the process of fracture reduction, the Ke's nail is driven into the distal end of the femur and then is fixed on the movable platform, and therefore the distal end of the femur can be driven to move by the femoral fracture reduction robot. The k-wire is merely a preferred embodiment of the present application, and it is understood that any actuator secured based on the principles of the present application is within the scope of the present application.
Referring to fig. 5, the driving branched chain assembly according to the first embodiment of the present application includes six groups of identical driving branched chains 16, where the connection ends of the driving branched chains 16 and the moving portion are first connection ends, the first connection ends of the six groups of driving branched chains 16 are arranged close to each other to form first support ends, and the three first support ends are respectively connected to the moving portions of the three linear movement mechanisms 11. Namely, the first ends of the driving branched chains 16 are close to each other and are respectively connected with the three linear sliders 14.
The connecting end of the driving branched chains 16 connected with the movable platform 18 is a second connecting end, the second connecting ends of the six groups of driving branched chains 16 are arranged in a pairwise close manner to form second supporting ends, and the second supporting ends are uniformly arranged along the circumferential direction of the movable platform 18.
The first connecting end and the second connecting end of the driving branched chain 16 are connected through a rotating connecting piece, and the rotating connecting piece is provided with two rotating ends. In a preferred embodiment of the present application, the rotational connection is a ball joint or a hook joint. Referring to fig. 5, the lower end of the driving branched chain 16 is connected with the linear sliding block 14 through a hook hinge 15, and the upper end of the driving branched chain 16 is connected with the movable platform 18 through a ball pair 17.
The first rotating end of the Hooke's hinge 15 is fixed on the linear sliding block 14, one end of the driving part driving branched chain 16 is fixed on the second rotating end of the Hooke's hinge 15, the other end of the driving part driving branched chain 16 is fixed on the ball pair 17, the ball pair 17 is connected with the driving branched chain 16 and the movable platform 18, therefore, the 6 driving branched chains 16 and the redundant driving base 200 are added, the movable platform 18 has 15 degrees of freedom as the output end of the robot, the movable platform 18 is provided with mounting holes, and different clamping devices 400 can be mounted according to different use scenes. The clamping device 400 is installed on the movable platform 18 of the parallel actuator 300, and the clamping device 400 is used for clamping the kirschner wire 23.
The redundant drive base 200 can provide 360 full rotary motion for moving the platform, and when the 3RRS mechanism that the lower support arm drove moved to the singular position type, the redundant drive base passed through the drive of annular guide rail slider, linear motion mechanism and linear slider and lets the platform can pass through the position and the gesture that 3RRS mechanism can't arrive smoothly, has promoted the robot and has snatched the object scope in the space.
Specifically, the clamping device 400 of the present application includes an annular fixing mechanism provided with a plurality of fixing portions along the circumferential direction, the fixing portions being used for fixing the k-wire 23, the annular fixing mechanism being used for fixing the femur.
Specifically, the annular fixing mechanism of the present application is a clamping and positioning platform 20 shown in fig. 5, the clamping and positioning platform 20 for femoral fracture reduction is fixed on a movable platform 18 through a stud 19, the clamping and positioning platform 20 is provided with a plurality of mounting holes, fixing saddles 21 can be mounted at different positions, a kirschner pin 23 is fixed on the clamping and positioning platform 20 through a fixing saddle 22, the fixing saddle 21 is fixed on the clamping and positioning platform 20 through a bolt 22, and the kirschner pin 23 is a medical instrument and directly punctures the bone to fix the bone.
When the parallel execution mechanism 300 is used, the movable platform 100 at the bottom can realize the translation of the whole robot on the ground, and the mounting plate 10 is arranged on a linear track on a metal bracket and can adjust the height of the whole parallel execution mechanism 300 in the vertical direction; the annular guide rail 7 is fixed on the mounting plate 10, the 3 annular guide rail sliding blocks 6 move along the annular guide rail 7 to enable the whole parallel execution mechanism 300 to perform 360-degree full-rotation movement, one end of the linear movement mechanism 11 is connected to the annular guide rail sliding blocks 6 and can rotate around the annular guide rail sliding blocks 6, the other end of the linear movement mechanism is limited in the arc limiting track 12, a rotating track is provided for the linear movement mechanism 11, and lateral support of the linear movement mechanism 11 is also provided; the linear slide block 14 moves linearly in the linear moving mechanism, so that 3 linear moving mechanisms 11 have 6 degrees of freedom; based on the redundancy driving base designed by the invention, different parallel actuating mechanisms 300 can be arranged on the 3 linear sliding blocks 14, so that the redundancy driving base 200 can act on different scenes, the working space of the parallel mechanisms can be widely improved, the singularity can be eliminated, and the performance optimization of most of the parallel mechanisms can be realized.
In the femoral fracture reduction operation, the proximal end of the femur of a patient on an operation bed is fixed, then the movable platform is pushed to move the whole robot to a proper position of the operation bed, the vertical position of the mounting plate is adjusted to align the position of the clamping device to the distal end of the femur of the patient, the Kirschner wire is nailed into the distal end of the femur, and then the fixing saddle and the Kirschner wire are fixed on the clamping positioning plate by using bolts; furthermore, the universal wheels are fixed to enable the position of the whole robot to be unchanged, and the redundant parallel femoral fracture reduction robot can be operated to enable the femur to rotate and move in all directions in space through preoperative planning; the driving branched chain can provide the motion of degree of freedom for the movable platform; the redundant driving base can provide 360-degree full-rotation motion for the movable platform, and when the Stewart mechanism driven by the driving branched chain moves to a singular position type, the redundant driving base enables the movable platform to smoothly pass through the position and the posture which cannot be reached by a common Stewart mechanism through the driving of the annular guide rail sliding block, the linear moving mechanism and the linear sliding block, so that the full coverage of the motion path of the distal end of the femur is realized, and the posture which cannot be reached by a robot is avoided.
The technical solutions in the embodiments of the present application at least have the following technical effects and advantages.
The redundant parallel femoral fracture reduction robot solves the problems of complex pose control, large working space limitation and small flexibility of a surgical robot in the prior art, increases the position and posture working space of the surgical robot by adopting a redundant driving scheme, improves the flexibility of a mechanism, avoids singular points of the mechanism and enables the pose of the surgical robot to be controlled more easily.
The redundant driving base has 9 degrees of freedom, a common moving platform generally has at most 6 degrees of freedom, the parallel mechanism arranged on the linear sliding block on the base can realize redundant driving, the position and posture working space of the robot can be increased through the redundant driving, the flexibility of the mechanism is improved, and the singular point of the mechanism is avoided, so that the pose of the mechanism is easier to control.
The motion performance of the movable platform can be improved by utilizing the redundant driving base, and the redundant driving base can be used for different parallel structures, such as 3RRS and other 3 branched chain parallel mechanisms. According to the characteristic that the base has 9 degrees of freedom, the parallel mechanism arranged on the base can realize redundant driving, so the mechanism has universality and can be applied to different occasions, and the common defects of parallel robots, namely complicated posture control, large working space limitation, small flexibility and the like, are overcome.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A redundant parallel femoral fracture reduction robot is characterized by comprising a movable platform, a redundant driving base, a parallel execution mechanism and a clamping device, wherein the redundant driving base, the parallel execution mechanism and the clamping device are sequentially arranged on the movable platform;
the redundant driving base comprises a mounting plate, the lower end of the mounting plate is connected with the movable platform, an annular guide rail and a plurality of linear moving mechanisms are arranged on the upper surface of the mounting plate, each linear moving mechanism comprises a first end and a second end, the first ends are opposite to the second ends, and the first ends of the linear moving mechanisms are respectively rotatably arranged on the annular guide rail and can move along the annular guide rail; a support piece is vertically arranged in the center of the annular guide rail, the support piece has a degree of freedom rotating around the axis of the support piece, the second end of each linear moving mechanism is connected with the fixing piece, and the angle between each linear moving mechanism and the mounting plate is adjustable;
the parallel execution mechanism comprises a driving branched chain component and a movable platform, the upper end of the driving branched chain component is connected with the movable platform, the lower end of the driving branched chain component is connected with a moving part of the linear moving mechanism, and the moving part can move along a fixed part of the linear moving mechanism;
the clamping device is arranged on the movable platform of the parallel execution mechanism and used for clamping the Kirschner wire.
2. The redundant parallel femoral fracture reduction robot of claim 1, wherein the movable platform is provided at an upper end thereof with a vertical lift mechanism for driving the mounting plate to ascend or descend.
3. The redundant parallel femoral fracture reduction robot according to claim 2, wherein the movable platform further comprises universal wheels and a driving control box, the universal wheels are uniformly arranged at the bottom of the driving control box, and the vertical lifting mechanism is arranged at the top of the driving control box.
4. The redundant parallel femoral fracture reduction robot according to claim 1, wherein the number of the linear movement mechanisms is three, the driving branched chain assembly comprises six groups of identical driving branched chains, the connecting ends of the driving branched chains connected with the movement portions are first connecting ends, the first connecting ends of the six groups of driving branched chains are arranged in a pairwise proximity manner to form first supporting ends, and the three first supporting ends are respectively connected with the movement portions of the three linear movement mechanisms.
5. The redundant parallel femoral fracture reduction robot of claim 4, wherein the connecting ends of the driving branched chains and the movable platform are second connecting ends, and the second connecting ends of the six groups of driving branched chains are arranged in a pairwise proximity manner to form second supporting ends, and the second supporting ends are uniformly arranged along the circumferential direction of the movable platform.
6. The redundant parallel femoral fracture reduction robot of claim 5, wherein the second connecting ends of the drive branches are connected by a rotational connection having two rotational ends.
7. The redundant parallel femoral fracture reduction robot of claim 4, wherein the support member comprises a central mounting column vertically disposed at the center of the annular guide rail, the central mounting column is uniformly provided with three arc-shaped limiting rails along the circumferential direction, and the arc-shaped limiting rails are matched with the second end of the linear movement mechanism.
8. The redundant parallel femoral fracture reduction robot of claim 7, wherein the arcuate limit track is a minor arc.
9. The redundant parallel femoral fracture reduction robot of claim 1, wherein the linear translation mechanism is a ball screw mechanism, the fixed part is a screw having a rotational degree of freedom about its axis, and the translation part is a slider that mates with the screw.
10. The redundant parallel femoral fracture reduction robot of any of claims 1-9, wherein the clamping device comprises a ring-shaped fixation mechanism having a plurality of fixation portions disposed circumferentially for fixation of the k-wire, the ring-shaped fixation mechanism for fixation of the femur.
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| CN202111495677.3A CN113876432B (en) | 2021-12-09 | 2021-12-09 | Redundant parallel femoral fracture reduction robot |
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| CN202111495677.3A CN113876432B (en) | 2021-12-09 | 2021-12-09 | Redundant parallel femoral fracture reduction robot |
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| CN113876432B (en) | 2022-02-25 |
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