Wearable fracture reduction and rehabilitation integrated robot

Abstract

The invention discloses a wearable fracture reduction and rehabilitation integrated robot, which includes a proximal ring, a distal ring, six active branch chains, a motor drive device and a manual drive device. The six active branch chains are divided into two groups, and each active branch chain The chain is composed of platform connecting sleeve, sliding bearing, bearing lock nut, proximal Hooke hinge, intermediate moving pair, sleeve, force sensor and distal Hooke hinge; one end of the active branch chain is connected to the proximal The other end is connected to the distal ring through a nut, and each active branch chain is connected to the driving device through a D-shaped bushing; the integrated robot of the present invention has electric-manual dual-mode drive, and the branch chain can be used during and after the operation. It can be replaced quickly. At the same time, the body structure has the characteristics of light weight and high rigidity. The layout is compact, the structure is light, and the wearability is strong. It can realize the integration of fracture reduction and rehabilitation, and can provide a hardware foundation for the realization of precise minimally invasive, safe and controllable fracture treatment. .

Description

technical field [0001] The invention relates to medical equipment, in particular to a wearable fracture reduction and rehabilitation integrated robot. Background technique [0002] Traditional fracture surgery is limited by the experience of doctors and intraoperative equipment. It has high surgical risks, large trauma, and difficulty in popularizing complex surgical procedures. It is prone to risks such as inaccurate reduction and secondary infection. [0003] The wearable orthopedic medical robot uses threaded half-pins or Kirschner wires to stably fix the broken bone with the robot's distal and proximal rings, and adjusts the fracture ends by adjusting the spatial relative pose of the robot's distal and proximal rings to achieve precise , Minimally invasive fracture treatment. However, most of the current wearable orthopedic medical robots mainly have the following deficiencies: 1) The drive mode is single. As described in the patent CN101847182A, the six-degree-of-free...

AI Technical Summary

Problems solved by technology

However, most of the current wearable orthopedic medical robots mainly have the following deficiencies: 1) The driving mode is single

As described in the patent CN101847182A, the six-degree-of-freedom parallel robot can realize the reduction of long bone fractures, but its driving mode is single and cannot be removed, which increases the burden on patients to a certain extent and brings inconvenience to daily life

2) The branch chain cannot be replaced

As described in the patent CN106361441A, the manual reset robot can realize the reduction operation of femoral shaft fractures, but its branch chain structure of the robot cannot be replaced, which cannot meet the needs of special fracture types that need to replace the branch chain.

3) The overall structure is bulky and not compact, and the wearability is poor

As described in the patent CN101474090A, the wearable auxiliary osteosynthetic parallel robot can perform fracture plastic reduction and fixation at the same time, but the drive and transmission structure is bulky, and the overall layout is not compact. It is not suitable for long-term use by patients in daily activities, and the wearability is poor.

4) Only for fracture reduction, not involved in fracture rehabilitation

The long bone reduction robot described in the patent CN103462674A can realize long bone fracture reduction, but lacks real-time monitoring of the force information of the robot, making it difficult to judge the degree of bone healing, and then reasonably guide rehabilitation training

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