CN208464553U - A kind of reduction of the fracture grasping device based on operating bed - Google Patents

Abstract

The utility model discloses a kind of reduction of the fracture grasping device based on operating bed, including driving control system, operating bed connection component, regulating device；Driving control system is made of hydraulic control box and floor push；Operating bed connection component is for connecting operating bed and resetting robot；Regulating device includes four seven freedom mechanical arms, it can be achieved that flexible modulation.The utility model by can flexible operating the passive mechanical arm of multiple degrees of freedom and operating bed combine, realize fast and stable hold.The resetting apparatus has the characteristics that structure is simple, rigidity is good, compact and flexible, auxiliary doctor can provide while fine reset operation the powerful myotility of biggish holding power resistance to maintain to reset, effectively overcome the shortcomings of conventional reset method, clinical practice demand can be met, have good application prospect in reduction of the fracture operation.

Description

A fracture reduction and holding device based on operating bed

technical field

The utility model relates to surgical medical instruments, in particular to a fracture reduction and holding device based on an operating bed.

Background technique

Fractures are a common disorder in which the continuity of the phalangeal structure is completely or partially broken. It is more common in children and the elderly, but also occurs in young and middle-aged people. For example, when violence directly acts on a certain part of the bone, it will cause a fracture of that part, causing fracture of the injured part, and often accompanied by different degrees of soft tissue damage. Among them, for multiple fractures, pelvic fractures, femoral fractures, spinal fractures and severe open fractures, patients often suffer from shock due to extensive soft tissue damage, massive bleeding, severe pain or concurrent visceral injury. For example, pelvic fractures account for about 3% to 8% of the whole body fractures, which are usually caused by high-energy injuries. In the traditional pelvic reduction method, the reduction path is determined by taking multiple X-rays during the operation. This method is performed manually by a physician and relies on visual inspection for localization. The amount of radiation received by doctors and patients is large, and doctors cannot accurately grasp the fracture status information through two-dimensional images. Path planning is difficult, which affects the quality of fracture reduction, and is prone to complications such as pelvic deformity, unequal lower limbs, and low back pain. In severe cases, it may even require a second surgery to correct it. In addition, in traditional pelvic reduction surgery, doctors need to use their hands or use reduction instruments to pry, pull, squeeze and other actions to correct the axial and rotational displacement of the pelvis. During this process, continuous force is required but not too much force to prevent the occurrence of New fractures, which often consume a lot of physical strength of doctors, and traditional reduction methods have problems such as lack of stability and insufficient reduction accuracy due to human physiological limits.

Although many scientific research institutions, engineering technicians and medical workers at home and abroad have conducted research on fracture reduction mechanisms and achieved certain results, such as the pelvic fracture reduction frame developed by Starr et al., and the unstable pelvic fracture reduction frame developed by the Chinese PLA General Hospital. , and a six-degree-of-freedom series-parallel pelvic fracture reduction robot announced by Zhao Lu et al. of Beijing University of Aeronautics and Astronautics, etc., but these studies can only be performed by a doctor's hand-held pelvic fracture reduction operation, or can not have both operational flexibility. and large reduction force, unable to meet clinical needs. It can be concluded that the existing pelvic fracture reduction systems have their own shortcomings, which cannot be well adapted to the operating room environment, and truly solve the clinical problems.

Utility model content

In view of this, the purpose of the present utility model is to provide a fracture reduction and holding device based on an operating bed. Based on the theory of ligament traction, one-dimensional traction force is used to achieve reduction. reset.

The utility model provides a fracture reduction and holding device based on an operating bed, which adopts the following technical solutions:

A fracture reduction and holding device based on an operating bed, comprising an operating bed connecting device and an adjusting device, wherein one end of the adjusting device is fixed on the operating bed through the operating bed connecting device, and the other end of the adjusting device is provided with a holding needle, The adjusting device can drive the holding needle to move in different directions.

Further, the adjusting device is provided with a movable joint.

Further, the movement includes translation and rotation.

Further, a drive control system is also included, and the drive control system is connected with the adjustment device.

Further, the drive control system includes a hydraulic pump, a hydraulic motor, an oil tank, a foot switch, a hydraulic valve and a hydraulic pipeline.

Further, the connection device includes an adjustment card seat, a base and a locking bolt.

Further, a holding needle mounting device is also included, the holding needle is mounted on the holding needle mounting device, and the holding needle mounting device is connected with the adjusting device.

The utility model combines a flexible multi-degree-of-freedom passive mechanical arm and an operating bed, and has the characteristics of small size, flexibility and good rigidity, and can take into account the needs of flexible operation and maintaining a large reduction force in fracture reduction surgery, and can replace the doctor to achieve fracture reduction. Surgery, reduce the doctor's work intensity, improve the accuracy of surgery.

Description of drawings

The above-mentioned and other objects, features and advantages of the present utility model will become more apparent from the following description of the embodiments of the present utility model with reference to the accompanying drawings, in which:

Figure 1 is the overall schematic diagram of the collaborative fracture reduction robot developed based on the operating bed;

Fig. 2 is a schematic diagram of the structure of the connecting assembly of the operating bed;

Figure 3 is a schematic diagram of the structure of a seven-degree-of-freedom passive manipulator;

In the figure: 1- hydraulic system control box; 2- drive motor; 3- hydraulic pipeline; 4- operating bed; 5- operating bed connecting device; 6- holding needle; 7- adjusting device; 8- foot switch; 9 - Locking bolt; 10- Base; 11- Adjustment card seat; 12- Robot arm end ball joint; 13- Robot arm small arm; 14- Robot arm rotating joint; 15- Hydraulic interface; 16- Robot arm arm; 17 -Ball joint at the bottom end of the robotic arm; 18-holding needle installation device; 19-drive control system.

Detailed ways

The present invention is described below based on examples, but the present invention is not limited to these examples.

The utility model provides a fracture reduction and holding device based on an operating bed, which is used for traction reduction of pelvic fractures in orthopaedic surgery, and includes an operating bed connecting device 5, a holding needle mounting device 18 and a holding needle 6, the holding needle 6 is installed on the holding needle mounting device 18, the device further includes an adjusting device 7 and a drive control system 19, the holding needle mounting device 18 is connected with the adjusting device 7, and the adjusting device 7 is connected with the operating bed 4 is connected through the operating bed connecting device 5 , and the driving control system 19 is used to control the movement of the adjusting device 7 . The adjusting device 7 can drive the holding needle 6 to move in different directions, so that the holding needle 6 can be kept in different spatial positions.

Preferably, the adjusting device 7 drives the holding needle 6 to perform movements such as translation and rotation in different directions, so that the holding needle 6 can be kept in any spatial position, which is convenient for the smooth operation of the operation.

The adjusting device 7 is a robotic arm, preferably, the robotic arm has multiple degrees of freedom, for example, degrees of freedom≥6. More preferably, the adjusting device 7 of the embodiment of the present invention adopts a seven-degree-of-freedom mechanical arm, and the mechanical arm includes two mechanical arm ball joints, which are the ball joint 12 at the end of the robot arm and the ball joint 17 at the bottom end of the robot arm. The small arm 13 of the manipulator, the large arm 16 of the manipulator, and the rotating joint 14 of the manipulator. The ball joint 17 at the bottom end of the robot arm, the large arm 16 of the robot arm, the rotating joint 14 of the robot arm, the small arm 13 of the robot arm and the ball link 12 at the end of the robot arm are connected in sequence. While ensuring that the mechanical arm has sufficient degrees of freedom to realize flexible adjustment of the pose, the mechanical arm also has good stiffness and provides a large reset holding force.

The drive control system 19 is mainly used to control the movement of the robotic arm, and the drive control system 19 may be motor controlled or hydraulically controlled. This embodiment takes hydraulic control as an example, the drive control system 19 includes a hydraulic system control box 1 , and the hydraulic system control box includes a hydraulic pump, a drive motor 2 , a fuel tank, a foot switch 8 , a hydraulic valve, and a hydraulic pipeline 3 and other hydraulic components, the mechanical arm rotating joint 14 is provided with a hydraulic interface 15, which is connected to the hydraulic system control box 1 through the hydraulic pipeline 3, and the foot switch 8 is used to control the mechanical arm to be free state or locked state, with a smaller structure to achieve a larger locking force. The embodiments of the present invention are illustrated by taking hydraulic drive as an example, but those skilled in the art should realize that, without departing from the basic concept of the present invention, all motor drives, etc., can realize the motion of the mechanical arm. The utility model can be realized by the locked parts, mechanisms, devices, etc., which all belong to the protection scope of the present utility model.

More preferably, in actual use, the adjusting devices can be used alone, or a plurality of the adjusting devices can be used in combination at the same time, for example, two or four adjusting devices can be configured. When the adjusting devices are used in combination, each of the adjusting devices is independently controlled and driven, and is used cooperatively and cooperatively. As shown in FIG. 1 of the present utility model, it is a schematic structural diagram of the synergistic effect of the four adjusting devices. The embodiments of the present invention are illustrated by taking four of the adjusting devices as examples, but those skilled in the art should realize that, without departing from the basic concept of the present invention, single use or multiple coordinated use The adjusting devices all belong to the protection scope of the present invention.

The operating bed connecting device is mainly used to realize that the relative position of the adjusting device 7 and the operating bed 4 can be adjusted. The present utility model introduces a preferred embodiment. The operating bed connecting device 5 includes an adjusting socket 11 , a base 10 and a locking bolt 9 . The locking bolts can be locked by two pairs running through the operating bed, or four groups can be used for locking from the upper and lower sides respectively. Preferably, in the attached drawings of the present utility model, four two groups are respectively fixed from the top and bottom, which can adapt to different operating beds without destroying the original structure of the operating beds. The adjusting socket 11 is a C-shaped groove structure with two threaded through holes, is installed on the side of the operating bed, and can slide relative to the operating bed 4 to adjust the relative position of the adjusting device 7 and the operating bed 4 ; the base 10 is a plate-like structure with three threaded holes, the threaded holes in the middle position are used to fix the adjustment device 7, and the threaded holes on both sides are used to connect the base 10 and the adjustment socket 11; the A locking bolt 9 connects the adjusting socket 11 and the operating bed 4 , and the adjusting socket 11 and the operating bed 4 are locked or sliding relative to each other by tightening or loosening the locking bolt 9 . The embodiments of the present utility model are illustrated by taking the threaded locking connection as an example, but those skilled in the art should realize that, without deviating from the basic utility model concept of the present utility model, all the connection methods such as magnetic adsorption and the like can be realized. The components, mechanisms, devices, etc. of the adjusting device and the operating bed can all realize the present utility model, and these all belong to the protection scope of the present utility model.

The operating bed connecting device 5 is connected with the adjusting device 7. In the embodiment of the present invention, a screw connection is adopted, that is, one end of the ball joint 17 at the bottom end of the mechanical arm is provided with a screw thread, which is used for connecting with the operating bed connecting device. 5 on the threaded hole connection. The embodiments of the present invention are illustrated by taking the rotatable threaded connection as an example, but those skilled in the art should realize that all non-detachable, detachable, etc. The components, mechanisms, and devices that connect the adjusting device and the operating bed can all implement the present invention, and these all fall within the protection scope of the present invention. When the utility model is in use, the steps are as follows:

First, screw the threaded part of one end of the ball joint 17 at the bottom end of the mechanical arm into the threaded hole in the middle of the base 10, and fix the adjusting device 7 on the base 10; then adjust the operating bed The position of the adjustment card holder 11 in the connection device 5 is to make the four adjustment devices 7 in the appropriate position relative to the patient, and fixed with the locking bolts 9, and each adjustment device is opposite to the operating bed 4 Then, step on the foot switch 8 to make the adjustment device 7 in a flexible motion state, the doctor holds the adjustment device to adjust it to a proper posture, and drills the holding needle into the appropriate position of the patient's pelvis 6. Release the foot switch 8, and the adjusting device 7 is in a locked state, that is, the device is in a holding state, which is convenient for the doctor to operate the fracture site in the future.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims (8)

1. A fracture reduction and holding device based on an operating bed, characterized in that: it comprises an operating bed connecting device and an adjusting device, wherein one end of the adjusting device is fixed on the operating bed through the operating bed connecting device, and the adjusting device is other One end is provided with a holding needle, and the adjusting device can drive the holding needle to move in different directions. 2 . The fracture reduction and holding device based on an operating bed according to claim 1 , wherein the adjusting device is provided with a movable joint. 3 . 3 . The fracture reduction and holding device based on an operating bed according to claim 1 , wherein the movement includes translation and rotation. 4 . 4 . The fracture reduction and holding device based on an operating bed according to claim 1 , further comprising a drive control system, wherein the drive control system is connected with the adjustment device. 5 . 5. The operating bed-based fracture reduction and holding device according to claim 4, wherein the drive control system comprises a hydraulic pump, a hydraulic motor, a fuel tank, a foot switch, a hydraulic valve and a hydraulic pipeline. 6 . The fracture reduction and holding device based on an operating bed according to claim 1 , wherein the operating bed connecting device comprises an adjustment card seat, a base and a locking bolt. 7 . 7 . The fracture reduction and holding device based on an operating bed according to claim 1 , wherein the adjusting device is movably connected with the operating bed connecting device. 8 . 8 . The fracture reduction and holding device based on an operating bed according to claim 1 , further comprising a holding needle mounting device, the holding needle is mounted on the holding needle mounting device, and the holding needle mounting device is connected to the holding needle mounting device. 9 . The adjustment device is connected.