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WO2023020237A1 - Robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté et système de réduction de fracture pelvienne - Google Patents

Robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté et système de réduction de fracture pelvienne Download PDF

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Publication number
WO2023020237A1
WO2023020237A1 PCT/CN2022/108523 CN2022108523W WO2023020237A1 WO 2023020237 A1 WO2023020237 A1 WO 2023020237A1 CN 2022108523 W CN2022108523 W CN 2022108523W WO 2023020237 A1 WO2023020237 A1 WO 2023020237A1
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WIPO (PCT)
Prior art keywords
drive mechanism
linear drive
parallel
assembly
platform
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Ceased
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PCT/CN2022/108523
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English (en)
Chinese (zh)
Inventor
匡绍龙
张诚诚
寇伟
郁树梅
张虹淼
孙立宁
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Suzhou University
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Suzhou University
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Publication of WO2023020237A1 publication Critical patent/WO2023020237A1/fr
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B2017/564—Methods for bone or joint treatment

Definitions

  • the invention belongs to the technical field of medical devices, and in particular relates to a multi-degree-of-freedom series-parallel pelvic fracture reduction robot and a pelvic fracture reduction system.
  • pelvic fractures With the rapid development of modern industrial production and transportation, high-violence injuries mainly caused by pelvic fractures are increasing.
  • Good reduction accuracy is an effective guarantee for good prognosis and complete function, and poor reduction will increase postoperative residual pain, complications such as dysfunction, and the risk of secondary surgery.
  • open surgery the doctor directly checks the state of the fractured bone, and the operation intensity is high; at the same time, the trauma caused to the patient is large, the postoperative recovery time is long, and secondary injuries are prone to occur.
  • Robot-assisted fracture reduction has high reduction accuracy, small intraoperative radiation, can maintain the reduction state before the fracture is fixed, and reduces the labor intensity of doctors. In recent years, it has attracted more and more attention.
  • the technical problem to be solved by the present invention is how to provide a pelvic fracture reduction robot that is small in size, easy to install, reduces operation time, and does not affect the operation of doctors at the operating bedside.
  • the present invention provides a multi-degree-of-freedom series-parallel pelvic fracture reduction robot, including:
  • a series platform unit the series platform unit includes a first mounting base, a first linear drive mechanism, a second mounting base and a second linear drive mechanism, the first mounting base is fixed on the side of the operating bed, and the second The fixed part of a linear drive mechanism is fixedly connected to the first mount, and the movable part of the first linear drive drives the second mount to move linearly along the length direction of the operating bed.
  • the fixed parts of the two linear drive mechanisms are fixedly connected to the second mounting base;
  • a series-parallel transition unit the series-parallel transition unit includes a third mount and a rotary drive mechanism, the movable part of the second linear drive mechanism drives the third mount to move linearly along the height direction of the operating bed, the The fixed part of the rotary drive mechanism is fixedly connected to the third mounting seat;
  • a parallel platform unit the parallel platform unit includes a fixed platform, a third linear drive mechanism, a fourth linear drive mechanism, a fifth linear drive mechanism and a moving platform, and the movable part of the rotary drive mechanism drives the fixed platform around the operating bed
  • the fixed part of the third linear drive mechanism is rotatably connected to the fixed platform around the V-axis direction, and the movable part of the third linear drive mechanism is at least rotatable around the V-axis direction.
  • the movable part of the third linear drive mechanism drives the moving platform to rotate around the V-axis direction
  • the fixed part of the fourth linear drive mechanism is connected to the fixed platform rotatably around the W-axis direction
  • the movable part of the fourth linear drive mechanism is at least rotatably connected to the movable platform around the W-axis direction
  • the movable part of the fourth linear drive mechanism drives the movable platform to rotate around the W-axis direction
  • the V The axial direction intersects with the W-axis direction and is perpendicular to the width direction of the operating bed.
  • the fixed part of the fifth linear drive mechanism is fixedly connected to the fixed platform, and the movable part of the fifth linear drive mechanism is at least
  • the moving platform is hingedly connected around the V-axis direction and the W-axis direction, and the movable part of the fifth linear drive mechanism drives the moving platform to move linearly along the width direction of the operating bed.
  • the V-axis direction is perpendicular to the W-axis direction.
  • the fixed platform includes a center position, a first installation position, a second installation position and a third installation position
  • the center position is located at the center of an isosceles triangle
  • the first installation position and the second The installation positions are respectively located at the two base angles of the isosceles triangle
  • the third installation position is located at the top angle of the isosceles triangle
  • the rotation drive mechanism is connected with the center position
  • the third linear drive The mechanism is connected to the first installation position
  • the fourth linear drive mechanism is connected to the second installation position
  • the fifth linear drive mechanism is connected to the third installation position.
  • the movable part of the second linear drive mechanism is connected to the third mounting base through a parallel platform support shaft, and the third mounting base is in the shape of a "day".
  • the first linear drive mechanism includes a first motor, a first synchronous pulley assembly and a first lead screw nut assembly connected in sequence.
  • the second linear drive mechanism includes a second motor, a second synchronous pulley assembly and a second screw nut assembly connected in sequence.
  • the rotary drive mechanism includes a rotary motor and a harmonic reducer
  • the housing of the harmonic reducer is installed on the third mounting base
  • the rotary motor is connected to the shell of the harmonic reducer
  • connect the internal deceleration assembly of the harmonic reducer the internal deceleration assembly of the harmonic reducer is connected to the fixed platform through a flange.
  • the third linear drive mechanism includes a third motor, a third synchronous pulley assembly and an electric push rod A connected in sequence, and the housing of the electric push rod A is connected to the fixed platform through a bearing seat A , the third motor is installed on the casing of the electric push rod A, and the push rod of the electric push rod A is connected to the moving platform through the ball joint assembly A.
  • the fourth linear drive mechanism includes a fourth motor, a fourth synchronous pulley assembly and an electric push rod B connected in sequence, and the housing of the electric push rod B is connected to the fixed platform through a bearing seat B , the fourth motor is installed on the casing of the electric push rod B, and the push rod of the electric push rod B is connected to the moving platform through the ball joint assembly B.
  • the fifth linear drive mechanism includes a fifth motor, a fifth synchronous pulley assembly and an electric push rod C connected in sequence, the housing of the electric push rod C is fixed on the fixed platform, and the first The five motors are installed on the casing of the electric push rod C, and the push rod of the electric push rod C is connected to the moving platform through a Hooke hinge assembly.
  • the present invention also provides another technical solution, a pelvic fracture reduction system, comprising:
  • the pelvic fixation device on the healthy side includes a mounting plate assembly, a first locking assembly, a first rod nail assembly, and a second locking assembly
  • the mounting plate assembly includes a sliding fit portion and an orifice plate connected together part
  • the sliding fitting part is slidably connected to the guide rail on one side of the operating bed
  • the orifice part is provided with a plurality of through holes
  • the first locking assembly is used to lock the mounting plate assembly on the guide rail
  • the first rod screw assembly includes a first fixing rod and a first bone screw connected together
  • the first fixing rod can be passed through different through holes of the hole plate part
  • the The first bone nail is used to drive into the pelvis of the unaffected side
  • the second locking assembly locks the first rod nail assembly in a desired posture at one of the through holes of the hole plate
  • the relative sliding direction of the mounting plate assembly is parallel to the length direction of the operating bed
  • the plate thickness direction of the orifice part is parallel to the width direction of the
  • the reset device includes the above-mentioned multi-degree-of-freedom series-parallel pelvic fracture reduction robot, a second rod nail assembly and a third locking assembly
  • the first mounting base is fixed on the other side of the operating bed
  • the A plurality of through holes are provided on the moving platform
  • the second rod nail assembly includes a second fixing rod and a second bone nail connected together, and the second fixing rod can be passed through different through holes of the moving platform Among them, the second bone nail is used to be driven into the pelvis on the reset side
  • the third locking assembly locks the second rod nail assembly at the position of one of the through holes of the moving platform in a required posture.
  • the plate thickness direction of the moving platform is parallel to the width direction of the operating bed
  • the length direction of the second fixed rod is parallel to the width direction of the operating bed.
  • the present invention has the following advantages compared with the prior art:
  • the multi-DOF series-parallel pelvic fracture reduction robot and pelvic fracture reduction system disclosed in the present invention can realize 6-DOF movement, and has the advantages of high precision, large load capacity and rigidity, large working space, and compact structure. Installed directly on the side of the operating bed, it is small in size and easy to install, which reduces the operation time and does not affect the doctor's operation at the operating bedside;
  • the multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system disclosed in the present invention have high rigidity, no deformation when the pelvis is reset, and good reset effect;
  • the multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system disclosed in the present invention have the advantages of high precision, large load capacity and rigidity, large working space, and compact structure;
  • the multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system disclosed in the present invention use double copper sleeves to replace linear bearings, which effectively improves the ability of the electric push rod to withstand lateral forces, ensuring that the fracture reduction robot can withstand up to 500N reset force.
  • the cross-sectional shape of the Y-axis mounting seat is in the shape of a "day".
  • the structure can withstand axial Higher forces and radial forces, as well as higher stiffness, guarantee the high load requirements of fracture reduction robots.
  • Fig. 1 is the working schematic diagram of multi-degree-of-freedom series-parallel pelvic fracture reduction robot disclosed by the present invention
  • FIG. 2 is a schematic diagram of the connection relationship between the series platform units in the multi-degree-of-freedom series-parallel pelvic fracture reduction robot disclosed by the present invention
  • FIG. 3 is a schematic diagram of the connection relationship between the series-parallel transition unit and the parallel platform unit in the multi-degree-of-freedom series-parallel pelvic fracture reduction robot disclosed by the present invention
  • FIG. 4 is a schematic diagram of the connection relationship between the series-parallel transition unit and the parallel platform unit in the multi-degree-of-freedom series-parallel pelvic fracture reduction robot disclosed by the present invention
  • Fig. 5 is a working schematic diagram of the pelvic fracture reduction system disclosed in the present invention.
  • Fig. 6 is a working schematic diagram of the pelvic fracture reduction system disclosed in the present invention.
  • a multi-degree-of-freedom series-parallel pelvic fracture reduction robot includes:
  • the series platform unit includes a first mounting base 11, a first linear drive mechanism 12, a second mounting base 13 and a second linear drive mechanism 14, the first mounting base 11 is fixed on the bed side of the operating bed 4, the above
  • the fixed part of the first linear drive mechanism 12 is fixedly connected to the above-mentioned first mounting seat 11, and the movable part of the above-mentioned first linear drive mechanism 12 drives the above-mentioned second mounting seat 13 to perform linear motion along the length direction of the operating bed.
  • the fixed part of the second linear drive mechanism 14 is fixedly connected to the above-mentioned second mounting seat 13;
  • the series-parallel transition unit includes a third mounting base 21 and a rotary drive mechanism 22, the movable part of the second linear drive mechanism 14 drives the third mounting base 21 to move linearly along the height direction of the operating bed, the above-mentioned
  • the fixed part of the rotary drive mechanism 22 is fixedly connected to the third mount 21;
  • Parallel platform unit above-mentioned parallel platform unit comprises fixed platform 31, the 3rd linear drive mechanism 32, the 4th linear drive mechanism 33, the 5th linear drive mechanism 34 and the movable platform 35
  • the movable part of above-mentioned rotary rotary drive mechanism 22 drives fixed platform 31 rotates around the width direction of the operating bed
  • the fixed part of the above-mentioned third linear drive mechanism 32 is rotatably connected to the above-mentioned fixed platform 31 around the V-axis direction
  • the movable part of the above-mentioned third linear drive mechanism 32 is at least around the V-axis Direction is rotatably connected to the above-mentioned moving platform 35
  • the movable part of the above-mentioned third linear drive mechanism 32 drives the above-mentioned moving platform 35 to rotate around the V-axis direction
  • the fixed part of the above-mentioned fourth linear drive mechanism 33 is rotatably connected to the W-axis direction.
  • the movable part of the above-mentioned fourth linear drive mechanism 33 is at least rotatably connected to the above-mentioned movable platform 35 around the W-axis direction, and the movable part of the above-mentioned fourth linear drive mechanism 33 drives the above-mentioned movable platform 35 to rotate around the W-axis direction
  • the above-mentioned V-axis direction and the above-mentioned W-axis direction are intersected and arranged and are both perpendicular to the width direction of the operating bed.
  • the fixed part of the above-mentioned fifth linear drive mechanism 34 is fixedly connected to the above-mentioned fixed platform 31, and the activity of the above-mentioned fifth linear drive mechanism 34 A part is hingedly connected to the above-mentioned moving platform 35 at least around the V-axis direction and the W-axis direction, and the movable part of the above-mentioned fifth linear drive mechanism 34 drives the above-mentioned moving platform 35 to move linearly along the width direction of the operating bed.
  • the series platform unit has two degrees of freedom to realize the linear movement of the movable platform along the length direction of the operating bed and the height direction of the operating bed
  • the series-parallel transition unit has one degree of freedom to realize the rotational movement of the movable platform around the width direction of the operating bed
  • the parallel platform unit has three degrees of freedom to realize the linear movement of the movable platform along the width direction of the operating bed, the rotation around the V-axis direction and the rotation around the W-axis direction.
  • the above-mentioned V-axis direction is arranged perpendicular to the above-mentioned W-axis direction.
  • the above-mentioned fixed platform 31 includes a central position, a first installation position, a second installation position and a third installation position, the above-mentioned central position is located at the center of an isosceles triangle, and the above-mentioned first installation position and The above-mentioned second installation position is respectively located at the two bottom angle positions of the above-mentioned isosceles triangle, the above-mentioned third installation position is located at the apex position of the above-mentioned isosceles triangle, the above-mentioned rotary drive mechanism 22 is connected with the above-mentioned center position, and the above-mentioned third linear drive mechanism 32 It is connected to the first installation position, the fourth linear drive mechanism 33 is connected to the second installation position, and the fifth linear drive mechanism 34 is connected to the third installation position.
  • the movable part of the second linear drive mechanism 14 is connected to the third mounting seat 21 through the parallel platform support shaft 15, and the third mounting seat 21 is in the shape of a "day".
  • the first linear drive mechanism 12 includes a first motor 121 , a first synchronous pulley assembly 122 and a first lead screw nut assembly 123 connected in sequence.
  • the above-mentioned first synchronous pulley assembly 122 includes a first driving wheel, a first driven wheel and a first belt
  • the above-mentioned first screw nut assembly 123 includes a first screw and a first nut
  • the above-mentioned first motor 121 The body is fixed on the above-mentioned first mounting base 11, the above-mentioned first screw mandrel is rotatably connected to the above-mentioned first mounting base 11 around the length direction of the operating bed, and the above-mentioned first driving wheel is sleeved and mounted on the above-mentioned first motor 121
  • the above-mentioned first belt transmission is connected to the above-mentioned first driving wheel and the above-mentioned first driven wheel
  • the above-mentioned first driven wheel is sleeved and installed on the above-mentioned first screw rod
  • the above-mentioned first nut is rotationally connected to the above-
  • the above-mentioned second linear drive mechanism 14 includes a second motor 141 , a second synchronous pulley assembly 142 and a second lead screw nut assembly 143 connected in sequence.
  • the above-mentioned second synchronous pulley assembly 142 includes a second driving wheel, a second driven wheel and a second belt
  • the above-mentioned second screw nut assembly 143 includes a second screw and a second nut
  • the above-mentioned second motor 141 The fuselage is fixed on the above-mentioned second mounting base 13, the above-mentioned second screw rod is rotatably connected to the above-mentioned second mounting base 13 around the height direction of the operating bed, and the above-mentioned second driving wheel is sleeved and mounted on the above-mentioned second motor 141
  • the second belt drive is connected to the second driving wheel and the second driven wheel.
  • the above-mentioned parallel platform support shaft 15 is relatively rotatably connected with the above-mentioned second nut.
  • the above-mentioned rotary drive mechanism 22 includes a rotary motor 221 and a harmonic reducer 222, the shell of the above-mentioned harmonic reducer 222 is installed on the above-mentioned third mounting seat 21, and the above-mentioned rotary motor 221 is connected to the above-mentioned
  • the shell of the harmonic reducer 222 is connected to the internal reduction assembly of the above-mentioned harmonic reducer 222,
  • the internal reduction assembly of the harmonic reducer 222 is connected to the fixed platform 31 through a flange.
  • the above-mentioned third linear drive mechanism 32 includes a third motor 321, a third synchronous pulley assembly 322 and an electric push rod A323 connected in sequence, and the housing of the above-mentioned electric push rod A323 passes through the bearing seat A324 Connected to the above-mentioned fixed platform 31, the above-mentioned third motor 321 is installed on the shell of the above-mentioned electric push rod A323, and the push rod of the above-mentioned electric push rod A is connected to the above-mentioned moving platform 35 through the ball joint assembly A325.
  • the above-mentioned third synchronous pulley assembly 322 includes a third driving wheel, a third driven wheel and a third belt, the above-mentioned third driving wheel is sleeved on the motor shaft of the above-mentioned third motor 321, and the above-mentioned third driven wheel It is sheathed and installed on the internal push assembly of the above-mentioned electric push rod A323, and the above-mentioned third belt transmission is connected between the above-mentioned third driving wheel and the above-mentioned third driven wheel.
  • the above-mentioned fourth linear drive mechanism 33 includes a fourth motor 331, a fourth synchronous pulley assembly 332 and an electric push rod B333 connected in sequence, and the housing of the above-mentioned electric push rod B333 passes through the bearing seat B334 Connected to the above-mentioned fixed platform 31, the above-mentioned fourth motor 331 is installed on the shell of the above-mentioned electric push rod B333, and the push rod of the above-mentioned electric push rod B333 is connected to the above-mentioned moving platform 35 through the ball joint assembly B335.
  • the above-mentioned fourth synchronous pulley assembly 332 includes a fourth driving wheel, a fourth driven wheel and a fourth belt, the above-mentioned fourth driving wheel is sleeved on the motor shaft of the above-mentioned fourth motor 331, and the above-mentioned fourth driven wheel It is sheathed and installed on the internal push assembly of the above-mentioned electric push rod B333, and the above-mentioned fourth belt transmission is connected between the above-mentioned fourth driving wheel and the above-mentioned fourth driven wheel.
  • the above-mentioned fifth linear drive mechanism 34 includes a fifth motor 341, a fifth synchronous pulley assembly 342 and an electric push rod C343 connected in sequence, and the housing of the above-mentioned electric push rod C343 is fixed on the above-mentioned fixed On the platform 31 , the fifth motor 341 is mounted on the shell of the electric push rod C343 , and the push rod of the electric push rod C343 is connected to the moving platform 35 through the Hooke hinge assembly 344 .
  • the above-mentioned fifth synchronous pulley assembly 342 includes the fifth driving wheel, the fifth driven wheel and the fifth belt, the above-mentioned fifth driving wheel is sleeved and installed on the motor shaft of the above-mentioned fifth motor 341, and the above-mentioned fifth driven wheel It is sheathed and installed on the internal push assembly of the above-mentioned electric push rod C343, and the above-mentioned fifth belt drive is connected between the above-mentioned fifth driving wheel and the above-mentioned fifth driven wheel.
  • a kind of pelvic fracture reduction system comprises:
  • the pelvic fixation device on the healthy side includes a mounting plate assembly 51, a first locking assembly 52, a first rod nail assembly 53 and a second locking assembly 54
  • the mounting plate assembly 51 includes a sliding fit part and a The orifice part, the above-mentioned sliding fit part is slidably connected to the guide rail 41 on one side of the operating bed 4, the above-mentioned orifice part is provided with a plurality of through holes, and the above-mentioned first locking assembly 52 is used to lock the above-mentioned mounting plate assembly on the guide rail 41
  • the above-mentioned first rod nail assembly 53 includes a first fixing rod 531 and a first bone screw 532 connected together, and the first fixing rod 531 can be passed through different through holes of the above-mentioned hole plate,
  • the above-mentioned first bone nail 532 is used to drive into the pelvis 61 of the healthy side, and the above-mentioned
  • the above-mentioned resetting device includes the multi-degree-of-freedom series-parallel pelvic fracture reduction robot, the second rod screw assembly 71 and the third locking assembly 72, the above-mentioned first mounting base 11 is fixed on the other side of the operating bed 4, the above-mentioned dynamic
  • the platform 35 is provided with a plurality of through holes, and the second rod nail assembly 71 includes a second fixing rod 711 and a second bone nail 712 connected together, and the second fixing rod 711 can be passed through different parts of the moving platform 35.
  • the above-mentioned second bone nail 712 is used to drive into the pelvis 62 on the reset side, and the above-mentioned third locking assembly 72 locks the above-mentioned second rod nail assembly 71 to one of the through-hole positions of the above-mentioned moving platform 35 in a desired posture.
  • the plate thickness direction of the moving platform 35 is parallel to the width direction of the operating bed 4
  • the length direction of the second fixed rod 711 is parallel to the width direction of the operating bed 4 .
  • the rigidity of the pelvic fixation device on the healthy side is high, and the fixation is firm.
  • the fixation is firm.
  • the sliding fitting part can move on the guide rail, and the bone nail can be quickly and accurately fixed at the designated position.
  • the above-mentioned contralateral pelvic fixation device has a simple overall structure and is easy to install, reducing the labor intensity of doctors.
  • the above-mentioned sliding fitting part is provided with a jacking threaded hole
  • the first locking component includes a jacking screw
  • the jacking screw is threaded in the jacking threaded hole and tightened on the guide rail
  • the jacking screw is a knob screw
  • the part is in the shape of a chute, the guide rail and the chute cooperate with each other, and the sliding fit part and the orifice part are reinforced and connected by reinforcing ribs.
  • the first fixed rod and the second fixed rod each include a screw section
  • the second locking assembly includes two flange nuts
  • the screw section passes through the through hole
  • the flange nut is threadedly connected to the screw section
  • the plate portion is an integral structure formed by bending the same plate.
  • the first bone nail and the second bone nail are first driven by the doctor to the appropriate position on the uninjured pelvis and the appropriate position of the reset side pelvis (the specific position can be determined by the doctor according to actual needs, for example, from the anterior inferior iliac Bone nails are driven into the spine, and the direction of insertion is to point to the posterior superior iliac spine). Then the first fixing rod is adjusted to a proper position and then connected to the first bone screw, and the second fixing rod is adjusted to a proper position and then connected to the second bone screw.
  • the movable platform 35 has three translations and three rotations, a total of six degrees of freedom, fully meeting the needs of pelvic reset.

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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

Un robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté et un système de réduction de fracture pelvienne. Le robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté comprend une unité de plateforme série, une unité de transition série-parallèle et une unité de plateforme parallèle ; l'unité de plateforme série a deux degrés de liberté, et réalise le mouvement linéaire d'une plateforme mobile le long de la direction de la longueur d'un lit chirurgical et de la direction de la hauteur du lit chirurgical ; l'unité de transition série-parallèle a un degré de liberté, et réalise le mouvement rotatif de la plateforme mobile autour de la direction de la largeur du lit chirurgical ; et l'unité de plateforme parallèle a trois degrés de liberté, et réalise le mouvement linéaire de la plateforme mobile le long de la direction de la largeur du lit chirurgical, la rotation de la plateforme mobile autour d'une direction d'axe en V, et la rotation de la plateforme mobile autour d'une direction d'axe en W. Le robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté peut réaliser le mouvement de six degrés de liberté, et présente les avantages d'être de haute précision, d'une grande capacité de chargement et d'une grande rigidité, de disposer d'un grand espace de travail, d'une structure compacte et d'autres avantages similaires. Le robot peut être monté directement sur la surface latérale du lit chirurgical, et est de petite taille et pratique à monter. En montant le robot à côté du lit, les gestes d'un médecin à côté du lit chirurgical ne sont pas affectés pendant une intervention chirurgicale.
PCT/CN2022/108523 2021-08-20 2022-07-28 Robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté et système de réduction de fracture pelvienne Ceased WO2023020237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110963104.2A CN113662643B (zh) 2021-08-20 2021-08-20 多自由度串并联骨盆骨折复位机器人及骨盆骨折复位系统
CN202110963104.2 2021-08-20

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WO2023020237A1 true WO2023020237A1 (fr) 2023-02-23

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PCT/CN2022/108523 Ceased WO2023020237A1 (fr) 2021-08-20 2022-07-28 Robot de réduction de fracture pelvienne série-parallèle à plusieurs degrés de liberté et système de réduction de fracture pelvienne

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CN117898840A (zh) * 2024-03-15 2024-04-19 中国人民解放军总医院第四医学中心 一种用于骨盆骨折闭合复位的串联式三轴运动复位机器人
CN118000882A (zh) * 2024-04-03 2024-05-10 吉林大学 一种框架式骨折复位手术机器人
US12213716B1 (en) 2024-08-30 2025-02-04 Jilin University Frame-type surgical robot for fracture reduction
CN120114189A (zh) * 2025-04-14 2025-06-10 哈尔滨工业大学 一种人工肌肉驱动的混联骨折复位手术机器人

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CN113662643B (zh) * 2021-08-20 2022-08-30 苏州大学 多自由度串并联骨盆骨折复位机器人及骨盆骨折复位系统
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