CN1259891C - Robot assisted bone setting operation medical system with lock marrow internal nail - Google Patents

Abstract

The present invention discloses a robot-assisted bone-setting operation medical system with lock-carried intramedullary nails, which relates to a robot-assisted medical system for bone-setting operations with lock-carried intramedullary nails. In the system, a medical traction reduction parallel robot (1) on a hand end (80) is arranged on the end side of a multifunctional automatic operation table (15), a bone-setting adjustment mechanism (2) is arranged on the medical traction reduction parallel robot (1), a bone-setting fixing mechanism (3) is arranged on one side of the multifunctional automatic operation table (15), a high-precision full automatic C-shaped arm X-ray unit (4) is arranged on the lateral side of the multifunctional automatic operation table (15), a navigation robot (5) is arranged on the other lateral side of the multifunctional automatic operation table (15), a bidirectional port of a robot controller (13') is connected with a bidirectional port of a main hand control station (17), and a hand control station (16) is connected to the main hand control station (17) through a network (90). The present invention has the advantages of high universality and favorable operation effect, reduces operation expenses, relieves patients' pain, reduces doctors' radiation damage and realize simulation teaching and training, and teletherapy for bone-setting operations.

Description

Translated fromChinese

机器人辅助带锁髓内钉正骨手术医疗系统Robot-assisted interlocking intramedullary nail orthopedic surgery medical system

技术领域technical field

本发明涉及带锁髓内钉正骨手术由机器人辅助的医疗系统。The invention relates to a robot-assisted medical system for bone-setting surgery with a locking intramedullary nail.

背景技术Background technique

传统的带锁髓内钉正骨手术根据手术实施的位置不同分为股骨、胫骨等多种，手术难度也不尽相同。以股骨正骨手术为例，其基本过程为：先要将病人的上身固定于手术床上，两个医生将病人骨折的股骨上下部分向外拉伸，称之为牵引。然后一个医生侧向固定病人的骨折处，使之保持一个固定的位置，称之为复位。牵引、复位完成后主治医生先在股骨一端的骨节末端打一个孔，以便植入一根长度与股骨长度相仿的髓内钉，然后在股骨远端和近端经皮穿孔(一般4个)，以便用锁钉将髓内钉固定在骨骼上。在髓内钉锁定过程中目前临床上主要采用：C臂机下徒手瞄准锁定、机械式远端锁定瞄准器、激光束引导、主动跟踪式计算机导航手术系统等。C臂机下徒手瞄准锁定不仅需要医生具有很高的操作技巧与丰富的临床经验，而且需要频繁地使用C臂机进行拍照，放射线损伤大，同时人为干扰因素多。手术时主治医生使用手电钻在股骨上打孔，由于股骨部分肌肉较多、外形复杂，主治医生不能用肉眼直接观测到手电钻钻入的位置，必须经常将手电钻退出来，使用X光机观察钻孔的情况，根据照相情况确定下次钻进的方向和深度。因此手术时间长、参与的医生较多，且医生会长时间受到X光的照射。另外由于麻药无法到达骨髓腔内部，手电钻多次进出骨髓腔，极大的增加了病人的痛苦。为减少放射线损伤，少用或不用C臂机，机械式远端锁定瞄准器得到了广泛的应用。但是机械式锁定瞄准器一般安装复杂，且容易发生形变，造成瞄准器与髓内钉位置关系发生变化，很难找准远端锁孔的位置，增加了操作的难度和额外损伤，有时甚至又重新回到C臂机下徒手瞄准锁定。而且不同厂家的瞄准器只能锁定自己厂家的髓内钉，不具备通用性。光学定位下的计算机导航系统需要大型的计算机图像处理硬件、软件和专用的手术器械，需要工程技术人员的指导，限制了医生的主观能动性，且价格昂贵，难以推广。Traditional interlocking intramedullary nail bone setting surgery is divided into femur, tibia, etc. according to the different positions of the operation, and the difficulty of the operation is also different. Taking femoral bone setting surgery as an example, the basic process is as follows: firstly, the upper body of the patient should be fixed on the operating table, and two doctors will stretch the upper and lower parts of the patient's fractured femur outward, which is called traction. A doctor then immobilizes the patient's fracture laterally to keep it in a fixed position, called reduction. After the traction and reduction are completed, the attending doctor first makes a hole at the end of the condyle at one end of the femur to implant an intramedullary nail with a length similar to the length of the femur, and then percutaneously perforates the distal and proximal ends of the femur (generally 4), In order to fix the intramedullary nail to the bone with a locking nail. In the locking process of intramedullary nails, the main clinical methods are: C-arm under-machine freehand aiming and locking, mechanical distal locking aimer, laser beam guidance, active tracking computer navigation surgery system, etc. Free-hand aiming and locking under the C-arm machine not only requires doctors to have high operating skills and rich clinical experience, but also needs to frequently use the C-arm machine to take pictures, which causes great radiation damage and many human interference factors. During the operation, the attending doctor uses a hand drill to drill holes in the femur. Due to the many muscles in the femur and its complex shape, the attending doctor cannot directly observe the drilled position of the hand drill with the naked eye. He must often withdraw the hand drill and use an X-ray machine to observe According to the situation of the drilling, determine the direction and depth of the next drilling according to the photographic situation. Therefore, the operation time is long, and there are many doctors involved, and the doctors will be exposed to X-rays for a long time. In addition, because the anesthetic cannot reach the inside of the bone marrow cavity, the electric hand drill enters and exits the bone marrow cavity many times, which greatly increases the pain of the patient. In order to reduce radiation damage, less or no C-arm machine is used, and mechanical distal locking collimator has been widely used. However, mechanical locking sights are generally complicated to install and prone to deformation, resulting in changes in the positional relationship between the sight and the intramedullary nail. Return to the freehand aiming lock under the C-arm. Moreover, the sights of different manufacturers can only lock the intramedullary nails of their own manufacturers, which is not universal. The computer navigation system under optical positioning requires large-scale computer image processing hardware, software and special surgical instruments, and requires the guidance of engineers and technicians, which limits the subjective initiative of doctors, and is expensive and difficult to promote.

发明内容Contents of the invention

本发明的目的是提供一种机器人辅助带锁髓内钉正骨手术医疗系统，它具有通用性强，手术效果好，降低手术费用，减轻病人痛苦，减少医生的放射线损伤，实现正骨手术的模拟教学训练和远程治疗的特点。本发明由从手端80和主手端70组成，从手端80由医用牵引复位并联机器人1、正骨调整机构2、正骨复位机构3、高精度全自动C形臂X光机4、导航机器人5、CCD摄像机6、高速图像采集卡7、第一图像处理单元8、机构控制单元9、第一位置传感器10、第一力传感器11、第一位置/力信号采集卡12、第一机器人控制器13、第一伺服、力控制单元14、多功能自动手术床15、从手控制站16、第二位置传感器10′、第二力传感器11′、第二位置/力信号采集卡12′、第二机器人控制器13′、第二伺服、力控制单元14′组成；主手端70由主手控制站17、虚拟手术仿真系统18、监视器19、遥操作并联主手20、第三力传感器11″、第三位置/力信号采集卡12″、第三机器人控制器13″、第三伺服、力控制单元14″、第三位置传感器10″、第二图像处理单元8′组成；从手端80的医用牵引复位并联机器人1设置在多功能自动手术床15的前侧，正骨调整机构2设置在医用牵引复位并联机器人1上，正骨固定机构3设置在多功能自动手术床15上的前侧，高精度全自动C形臂X光机4设在多功能自动手术床15的左侧，导航机器人5设在多功能自动手术床15的右侧，高精度全自动C形臂X光机4的输出端与高速图像采集卡7的输入端a相连接，CCD摄像机6的输出端与高速图像采集卡7的输入端b相连接，高速图像采集卡7的输出端与第一图像处理单元8的输入端相连接，第一图像处理单元8的输出端与从手控制站16的输入端z相连接，机构控制单元9的双向端口C与CCD摄像头6的双向端口相连接，机构控制单元9的双向端口d与高精度全自动C形臂X光机4的双向端口相连接，机构控制单元9的双向端口y与从手控制站16的双向端口k相连接，第一位置传感器10的输出端与第一位置/力信号采集卡12的输入端e相连接，第一位置传感器10的输出端f与导航机器人5的输入端相连接，导航机器人5的输出端与第一力传感器11的输入端相连接，第一力传感器11的输出端与第一位置/力信号采集卡12的输入端相连接，第一位置/力信号采集卡12的输出端与第一机器人控制器13的输入端h相连接，第一机器人控制器13的输出端与第一伺服、力控制单元14的输入端相连接，第一伺服、力控制单元14的输出端与导航机器人5的输入端g相连接，第一机器人控制器13的双向端口j与从手控制站16的双向端口m相连接，医用牵引复位并连机器人1上的输出端与第二位置传感器10′的输入端相连接，第二位置传感器10′的输出端与第二位置/力信号采集卡12′的输入端相连接，第二位置/力信号采集卡12′的输出端与第二机器人控制器13′的输入端相连接，第二机器人控制器13′的输出端与第二伺服、力控制单元14′的输入端相连接，第二伺服、力控制单元14′的输出端与医用牵引复位并联机器人1的输入端相连接，医用牵引复位并联机器人1的输出端o与第二力传感器11′的输入端相连接，第二力传感器11′的输出端与第二位置/力信号采集卡12′的输入端p相连接，第二机器人控制器13′的双向端口q与从手控制站16的双向端口n相连接；主手端70的遥操作并联主手20的输出端与第三力传感器11″的输入端相连接，第三力传感器11″的输出端与第三位置/力信号采集卡12″的输入端S相连接，遥操作并联主手20的输出端r与第三位置传感器10″的输入端相连接，第三位置传感器10″的输出端与第三位置/力信号采集卡12″的输入端相连接，第三位置/力信号采集卡12″的输出端与第三机器人控制器13″的输入端相连接，第三机器人控制器13″的输出端与第三伺服、力控制单元14″的输入端相连接，第三伺服、力控制单元14″的输出端与遥操作并联主手20的输入端相连接，第三机器人控制器13″的双向端口与主手控制站17的双向端口相连接，主手控制站17的输出端w与虚拟手术仿真系统18的输入端相连接，主手控制站17的输出端t与第二图像处理单元8′的输入端相连接，第二图像处理单元8′的输出端与虚拟手术仿真系统18的输出端共同接入监视器19；从手控制站16与主手控制站17之间通过网络90相连接。本发明具有如下优点：保护医护人员；医生不必在X光的照射下工作，减少了“受线”机会。具有通用性，适合任何厂家的髓内钉手术，手术效果好。由计算机专家系统根据图像信息确定的手术规划结果比人脑根据经验形成的手术规划效果好，并且机器人的定位和运动精度比人手要高几个数量级，手术精度高。降低手术费用：病人术后康复周期短，并且异地的病人避免了往返路费，大大节省了费用。减轻病人痛苦：手术创伤小，且一次整复就能满足要求，避免了二次手术给病人带来的痛苦。远程干预：通过网络信息交互，即使是偏远地区的病人也能得到远程专家的诊断和治疗，当地医生也可以得到专家的指点。手术教学训练；80％的手术失误是人为因素引起的，所以手术训练极其重要。医生可在虚拟手术系统上观察专家手术过程，也可重复实习，使得手术培训的时间大为缩短，同时减少了对昂贵的实验对象的需求。The purpose of the present invention is to provide a robot-assisted interlocking intramedullary nail orthopedic surgery medical system, which has strong versatility, good operation effect, reduces operation cost, relieves patients' pain, reduces radiation damage of doctors, and realizes simulation teaching of orthopedic surgery Features of training and teletherapy. The present invention consists of a slave hand end 80 and a master hand end 70. The slave hand end 80 is composed of a medical traction resetparallel robot 1, a bone setting adjustment mechanism 2, a bone setting reset mechanism 3, a high-precision fully automatic C-arm X-ray machine 4, and anavigation robot 5. CCD camera 6, high-speed image acquisition card 7, first image processing unit 8, mechanism control unit 9, first position sensor 10, first force sensor 11, first position/force signal acquisition card 12, first robot control Device 13, first servo, force control unit 14, multifunctionalautomatic operating bed 15, slave hand control station 16, second position sensor 10', second force sensor 11', second position/force signal acquisition card 12', The second robot controller 13', the second servo, and the force control unit 14' are composed; the main hand terminal 70 is composed of the main hand control station 17, the virtual surgery simulation system 18, the monitor 19, the remote operation parallel main hand 20, the third force sensor 11 ", the third position/force signal acquisition card 12 ", the third robot controller 13 ", the third servo, force control unit 14 ", the third position sensor 10 ", and the second image processing unit 8'; The medical traction resetparallel robot 1 of the hand terminal 80 is set on the front side of the multifunctionalautomatic operating bed 15, the bone setting adjustment mechanism 2 is set on the medical traction resetparallel robot 1, and the bone setting fixing mechanism 3 is set on the multifunctionalautomatic operating bed 15. On the front side, the high-precision automatic C-arm X-ray machine 4 is set on the left side of the multifunctionalautomatic operating bed 15, and thenavigation robot 5 is set on the right side of the multi-functionalautomatic operating bed 15. The high-precision automatic C-arm X-ray machine The output end ofmachine 4 is connected with the input end a of high-speed image acquisition card 7, the output end of CCD camera 6 is connected with the input end b of high-speed image acquisition card 7, the output end of high-speed image acquisition card 7 is connected with the first image processing The input end of unit 8 is connected, and the output end of the first image processing unit 8 is connected with the input end z of hand control station 16, and the bidirectional port C of mechanism control unit 9 is connected with the bidirectional port of CCD camera 6, and mechanism control The bidirectional port d of the unit 9 is connected with the bidirectional port of the high-precision fully automatic C-arm X-ray machine 4, the bidirectional port y of the mechanism control unit 9 is connected with the bidirectional port k of the slave control station 16, and the first position sensor 10 The output end of the first position/force signal acquisition card 12 is connected with the input end e of the first position sensor, the output end f of the first position sensor 10 is connected with the input end of thenavigation robot 5, and the output end of thenavigation robot 5 is connected with the first force sensor The input end of 11 is connected, the output end of the first force sensor 11 is connected with the input end of the first position/force signal acquisition card 12, the output end of the first position/force signal acquisition card 12 is connected with the first robot controller 13 The input terminal h of the first robot controller 13 is connected with the input terminal of the first servo and force control unit 14, the output terminal of the first servo and force control unit 14 is connected with the input terminal g of thenavigation robot 5 Connected, the bidirectional port j of the first robot controller 13 is connected with the bidirectional port m of the hand control station 16, and the output terminal on the medical traction reset and connectedrobot 1 is connected with the input terminal of the second position sensor 10′, The output end of the second position sensor 10' is connected with the input end of the second position/force signal acquisition card 12', and the output end of the second position/force signal acquisition card 12' is connected with the input end of the second robot controller 13' The output end of the second robot controller 13' is connected with the input end of the second servo and force control unit 14', and the output end of the second servo and force control unit 14' is connected with the input of the medical traction resetparallel robot 1 The output terminal o of the medical traction resetparallel robot 1 is connected to the input terminal of the second force sensor 11', and the output terminal of the second force sensor 11' is connected to the input terminal of the second position/force signal acquisition card 12' p is connected, the bidirectional port q of the second robot controller 13' is connected with the bidirectional port n of the slave control station 16; the remote operation of the main hand terminal 70 is connected in parallel with the output terminal of the main hand 20 and the third force sensor 11 " The input end is connected, and the output end of the 3rd force sensor 11 " is connected with the input end S of the 3rd position/force signal acquisition card 12 ", and the output end r of the main hand 20 of teleoperation parallel connection is connected with the third position sensor 10 ". The input end is connected, the output end of the third position sensor 10 " is connected with the input end of the third position/force signal acquisition card 12 ", the output end of the third position/force signal acquisition card 12 " is connected with the third robot controller 13 " input end is connected, the output end of the 3rd robot controller 13 " is connected with the input end of the 3rd servo, force control unit 14 ", the output end of the 3rd servo, force control unit 14 " is connected in parallel with remote operation The input end of main hand 20 is connected, and the bidirectional port of the third robot controller 13 " is connected with the bidirectional port of main hand control station 17, and the output terminal w of main hand control station 17 is connected with the input end of virtual surgery simulation system 18. connection, the output terminal t of the main hand control station 17 is connected to the input terminal of the second image processing unit 8′, and the output terminal of the second image processing unit 8′ and the output terminal of the virtual surgery simulation system 18 are connected to the monitor 19 together ; The slave hand control station 16 is connected with the master hand control station 17 through the network 90 . The invention has the following advantages: protecting medical personnel; doctors do not need to work under the irradiation of X-rays, which reduces the chance of "receiving lines". It has versatility and is suitable for any manufacturer's intramedullary nail operation, and the operation effect is good. The surgical planning results determined by the computer expert system based on the image information are better than the surgical planning formed by the human brain based on experience, and the positioning and motion accuracy of the robot is several orders of magnitude higher than that of the human hand, and the surgical accuracy is high. Reduce the operation cost: the postoperative recovery period of the patient is short, and the patients in different places avoid the round-trip travel expenses, which greatly saves the cost. Reduce the pain of the patient: The surgical trauma is small, and the one-time restoration can meet the requirements, avoiding the pain caused by the second operation to the patient. Remote intervention: Through network information interaction, even patients in remote areas can receive diagnosis and treatment from remote experts, and local doctors can also receive expert guidance. Surgical teaching and training; 80% of surgical errors are caused by human factors, so surgical training is extremely important. Doctors can observe the expert's operation process on the virtual surgery system, and can also repeat the practice, which greatly shortens the time of surgical training and reduces the need for expensive experimental subjects.

附图说明Description of drawings

图1是本发明的结构示意图，图2是医用牵引复位并联机器人1与高精度全自动C形臂X光机4及多功能自动手术床15和导航机器人5的工作位置示意图，图3是医用牵引复位并联机器人1的结构示意图，图4是高精度全自动C形臂X光机4的结构示意图，图5是多功能自动手术床15的结构示意图。Fig. 1 is a schematic structural view of the present invention, Fig. 2 is a schematic diagram of the working positions of a medical traction resetparallel robot 1, a high-precision automatic C-arm X-ray machine 4, a multifunctionalautomatic operating bed 15 and anavigation robot 5, and Fig. 3 is a medical traction and resetparallel robot 1. Schematic diagram of the structure of the traction resetparallel robot 1 , FIG. 4 is a schematic diagram of the structure of a high-precision automatic C-arm X-ray machine 4 , and FIG. 5 is a schematic diagram of the structure of a multifunctionalautomatic operating bed 15 .

具体实施方式Detailed ways

(参见图1、图2)本实施方式由从手端80和主手端70组成，从手端80由医用牵引复位并联机器人1、正骨调整机构2、正骨复位机构3、高精度全自动C形臂X光机4、导航机器人5、CCD摄像机6、高速图像采集卡7、第一图像处理单元8、机构控制单元9、第一位置传感器10、第一力传感器11、第一位置/力信号采集卡12、第一机器人控制器13、第一伺服、力控制单元14、多功能自动手术床15、从手控制站16、第二位置传感器10′、第二力传感器11′、第二位置/力信号采集卡12′、第二机器人控制器13′、第二伺服、力控制单元14′组成；主手端70由主手控制站17、虚拟手术仿真系统18、监视器19、遥操作并联主手20、第三力传感器11″、第三位置/力信号采集卡12″、第三机器人控制器13″、第三伺服、力控制单元14″、第三位置传感器10″、第二图像处理单元8′组成；从手端80的医用牵引复位并联机器人1设置在多功能自动手术床15的前侧，正骨调整机构2设置在医用牵引复位并联机器人1上，正骨固定机构3设置在多功能自动手术床15上的前侧，高精度全自动C形臂X光机4设在多功能自动手术床15的左侧，导航机器人5设在多功能自动手术床15的右侧，高精度全自动C形臂X光机4的输出端与高速图像采集卡7的输入端a相连接，CCD摄像机6的输出端与高速图像采集卡7的输入端b相连接，高速图像采集卡7的输出端与第一图像处理单元8的输入端相连接，第一图像处理单元8的输出端与从手控制站16的输入端z相连接，机构控制单元9的双向端口C与CCD摄像头6的双向端口相连接，机构控制单元9的双向端口d与高精度全自动C形臂X光机4的双向端口相连接，机构控制单元9的双向端口y与从手控制站16的双向端口k相连接，第一位置传感器10的输出端与第一位置/力信号采集卡12的输入端e相连接，第一位置传感器10的输出端f与导航机器人5的输入端相连接，导航机器人5的输出端与第一力传感器11的输入端相连接，第一力传感器11的输出端与第一位置/力信号采集卡12的输入端相连接，第一位置/力信号采集卡12的输出端与第一机器人控制器13的输入端h相连接，第一机器人控制器13的输出端与第一伺服、力控制单元14的输入端相连接，第一伺服、力控制单元14的输出端与导航机器人5的输入端g相连接，第一机器人控制器13的双向端口j与从手控制站16的双向端口m相连接，医用牵引复位并连机器人1上的输出端与第二位置传感器10′的输入端相连接，第二位置传感器10′的输出端与第二位置/力信号采集卡12′的输入端相连接，第二位置/力信号采集卡12′的输出端与第二机器人控制器13′的输入端相连接，第二机器人控制器13′的输出端与第二伺服、力控制单元14′的输入端相连接，第二伺服、力控制单元14′的输出端与医用牵引复位并联机器人1的输入端相连接，医用牵引复位并联机器人1的输出端o与第二力传感器11′的输入端相连接，第二力传感器11′的输出端与第二位置/力信号采集卡12′的输入端p相连接，第二机器人控制器13′的双向端口q与从手控制站16的双向端口n相连接；主手端70的遥操作并联主手20的输出端与第三力传感器11″的输入端相连接，第三力传感器11″的输出端与第三位置/力信号采集卡12″的输入端S相连接，遥操作并联主手20的输出端r与第三位置传感器10″的输入端相连接，第三位置传感器10″的输出端与第三位置/力信号采集卡12″的输入端相连接，第三位置/力信号采集卡12″的输出端与第三机器人控制器13″的输入端相连接，第三机器人控制器13″的输出端与第三伺服、力控制单元14″的输入端相连接，第三伺服、力控制单元14″的输出端与遥操作并联主手20的输入端相连接，第三机器人控制器13″的双向端口与主手控制站17的双向端口相连接，主手控制站17的输出端w与虚拟手术仿真系统18的输入端相连接，主手控制站17的输出端t与第二图像处理单元8′的输入端相连接，第二图像处理单元8′的输出端与虚拟手术仿真系统18的输出端共同接入监视器19；从手控制站16与主手控制站17之间通过网络90相连接。(参见图3)医用牵引复位并联机器人1由上平台21、虎克铰支链22、虎克铰23、滚珠丝杠装置24、联轴器25、连接平台26、支撑架27、下平台28、电机29组成，支撑架27固定在连接平台26与下平台28之间，电机29固定在下平台28的下侧，联轴器25的下端与电机29的输出轴相连接，联轴器25的上端与滚珠丝杠装置24的下端相连接，滚珠丝杠装置24的上端与虎克铰23的下端相连接，虎克铰23的上部与虎克铰支链22的下端相连接，虎克铰支链22的上部与上平台21的下侧铰接。(参见图4)，高精度全自动C形臂X光机4由y向驱动机构30、y向传动机构31、护罩32、z向传动机构33、z向驱动机构34、水平旋转驱动机构35、垂直旋转驱动机构36、C形臂支撑架37、C形臂38、C形导轨39、X光发射装置40、C形臂驱动机构41、X光接收装置42、升降平移机构43、直线导轨44、底座45、x向驱动机构46组成。直线导轨44设在底座45上，y向传动机构31设置在直线导轨44上，y向驱动机构30固定在y向传动机构31的一侧上，x向驱动机构46固定在y向传动机构31的下部，z向传动机构33固定在y向传动机构31的上部，z向驱动机构34固定在z向传动机构33的外侧上部，升降平移机构43固定在z向传动机构33一侧的y向传动机构31的上部，z向传动机构33及z向驱动机构34的外侧设有护罩32，水平旋转驱动机构35设置在升降平移机构43的上部，垂直旋转驱动机构36设置在水平旋转驱动机构35的上部，C形臂支撑架37固定在水平旋转驱动机构35的一侧上，C形臂驱动机构41固定在C形臂支撑架37内，C形臂38设在C形臂支撑架37及C形臂驱动机构41的外侧上，C形导轨39固定在C形臂38上，X光发射装置40固定在C形臂38的上端，X光接收装置42固定在C形臂38的下端。(参见图5)多功能自动手术床15由头背板47、牵引挡柱48、翻转机构49、大腿板50、小腿板51、小腿板下翻机构52、床面翻转机构53、y向平移机构54、x向平移机构55、底座56、电机58、支架59、z向平移机构60组成，x向平移机构55固定在底座56上侧，y向平移机构54固定在x向平移机构55上部的一侧，z向平移机构60固定在y向平移机构54的上部，z向平移机构60的外部固定有支架59，z向平移机构60的底部固定有电机58，头背板47设在支架59的上端，大腿板50的一侧由翻转机构49与头背板47的一端相连接，大腿板50的另一侧由小腿板下翻机构52与小腿板51相连接，牵引挡柱48固定在大腿板50一侧的头背板47的上平面上，床面翻转机构53固定在大腿板50一侧的支架59上并与头背板47的下部相连接。(See Figures 1 and 2) This embodiment consists of a slave hand end 80 and a master hand end 70. The slave hand end 80 is reset by a medical tractionparallel robot 1, a bone setting adjustment mechanism 2, a bone setting reset mechanism 3, and a high-precision automatic CArm X-ray machine 4,navigation robot 5, CCD camera 6, high-speed image acquisition card 7, first image processing unit 8, mechanism control unit 9, first position sensor 10, first force sensor 11, first position/force Signal acquisition card 12, first robot controller 13, first servo, force control unit 14, multifunctionalautomatic operating bed 15, slave hand control station 16, second position sensor 10', second force sensor 11', second The position/force signal acquisition card 12', the second robot controller 13', the second servo, and the force control unit 14' are composed; the main hand terminal 70 is composed of the main hand control station 17, the virtual surgery simulation system 18, the monitor 19, the remote Operate the parallel main hand 20, the third force sensor 11", the third position/force signal acquisition card 12", the third robot controller 13", the third servo, force control unit 14", the third position sensor 10", the third Composed of two image processing units 8'; the medical traction and resetparallel robot 1 from the hand end 80 is set on the front side of the multifunctionalautomatic operating bed 15, the bone setting adjustment mechanism 2 is set on the medical traction and resetparallel robot 1, and the bone setting fixation mechanism 3 is set On the front side on the multifunctionalautomatic operating bed 15, the high-precision full-automatic C-arm X-ray machine 4 is arranged on the left side of the multifunctionalautomatic operating bed 15, and thenavigation robot 5 is arranged on the right side of the multifunctionalautomatic operating bed 15, The output end of the high-precision fully automatic C-arm X-ray machine 4 is connected to the input end a of the high-speed image acquisition card 7, the output end of the CCD camera 6 is connected to the input end b of the high-speed image acquisition card 7, and the high-speed image acquisition card The output terminal of 7 is connected with the input terminal of the first image processing unit 8, the output terminal of the first image processing unit 8 is connected with the input terminal z of the slave control station 16, the bidirectional port C of the mechanism control unit 9 is connected with the CCD camera 6, the bidirectional port d of the mechanism control unit 9 is connected with the bidirectional port of the high-precision automatic C-arm X-ray machine 4, and the bidirectional port y of the mechanism control unit 9 is connected with the bidirectional port of the slave control station 16 k is connected, the output end of the first position sensor 10 is connected with the input end e of the first position/force signal acquisition card 12, the output end f of the first position sensor 10 is connected with the input end of thenavigation robot 5, and the navigation robot The output end of 5 is connected with the input end of the first force sensor 11, the output end of the first force sensor 11 is connected with the input end of the first position/force signal acquisition card 12, the first position/force signal acquisition card 12 The output end is connected with the input end h of the first robot controller 13, the output end of the first robot controller 13 is connected with the input end of the first servo and force control unit 14, the output of the first servo and force control unit 14 terminal is connected with the input terminal g of thenavigation robot 5, the bidirectional port j of the first robot controller 13 is connected with the bidirectional port m of the slave control station 16, and the medical traction resets and connects the output terminal on therobot 1 with the second position The input end of the sensor 10' is connected, the output end of the second position sensor 10' is connected with the input end of the second position/force signal acquisition card 12', and the output end of the second position/force signal acquisition card 12' is connected with the first position/force signal acquisition card 12'. The input terminals of the two robot controllers 13' are connected, the output terminals of the second robot controller 13' are connected with the input terminals of the second servo and force control unit 14', and the output terminals of the second servo and force control unit 14' It is connected with the input terminal of the medical traction resetparallel robot 1, the output terminal o of the medical traction resetparallel robot 1 is connected with the input terminal of the second force sensor 11', and the output terminal of the second force sensor 11' is connected with the second position/ The input terminal p of the force signal acquisition card 12' is connected, and the bidirectional port q of the second robot controller 13' is connected with the bidirectional port n of the slave control station 16; the remote operation of the main hand terminal 70 is connected in parallel with the output of the main hand 20 terminal is connected with the input end of the third force sensor 11 ", the output end of the third force sensor 11 " is connected with the input end S of the third position/force signal acquisition card 12 ", and the output end of the main hand 20 is connected in parallel by remote operation r is connected with the input end of the 3rd position sensor 10 ", the output end of the 3rd position sensor 10 " is connected with the input end of the 3rd position/force signal acquisition card 12 ", the 3rd position/force signal acquisition card 12 " The output end of the third robot controller 13 "is connected with the input end of the third robot controller 13 ", and the output end of the third robot controller 13 " is connected with the input end of the third servo and force control unit 14 ", and the third servo and force control unit 14 " output end is connected with the input end of remote operation parallel main hand 20, the bidirectional port of the 3rd robot controller 13 " is connected with the bidirectional port of main hand control station 17, the output end w of main hand control station 17 is connected with The input end of the virtual surgery simulation system 18 is connected, the output end t of the main hand control station 17 is connected with the input end of the second image processing unit 8′, and the output end of the second image processing unit 8′ is connected with the virtual operation simulation system 18 The output ends of the monitor 19 are commonly connected; the slave hand control station 16 and the main hand control station 17 are connected through a network 90 . (see Fig. 3) medical traction resetparallel robot 1 is made up of upper platform 21, Hooke hinge branch chain 22, Hooke hinge 23, ball screw device 24, shaft coupling 25, connecting platform 26, support frame 27, lower platform 28 , motor 29, the support frame 27 is fixed between the connecting platform 26 and the lower platform 28, the motor 29 is fixed on the lower side of the lower platform 28, the lower end of the shaft coupling 25 is connected with the output shaft of the motor 29, and the shaft coupling 25 The upper end is connected with the lower end of the ball screw device 24, the upper end of the ball screw device 24 is connected with the lower end of the Hooke hinge 23, the upper part of the Hooke hinge 23 is connected with the lower end of the Hooke hinge branch chain 22, and the Hooke hinge The upper part of the branch chain 22 is hinged with the lower side of the upper platform 21 . (see Fig. 4), the high-precision full-automatic C-arm X-ray machine 4 is composed of y-direction drive mechanism 30, y-direction transmission mechanism 31,shield 32, z-direction transmission mechanism 33, z-direction drive mechanism 34, horizontalrotation drive mechanism 35. Vertical rotation driving mechanism 36, C-arm support frame 37, C-arm 38, C-shaped guide rail 39,X-ray emitting device 40, C-arm driving mechanism 41,X-ray receiving device 42,lifting translation mechanism 43, linear Theguide rail 44, thebase 45, and thex-direction driving mechanism 46 are composed. Thelinear guide rail 44 is arranged on thebase 45, the y-direction transmission mechanism 31 is arranged on thelinear guide rail 44, the y-direction drive mechanism 30 is fixed on one side of the y-direction transmission mechanism 31, and thex-direction drive mechanism 46 is fixed on the y-direction transmission mechanism 31 The lower part of the z-direction transmission mechanism 33 is fixed on the upper part of the y-direction transmission mechanism 31, the z-direction drive mechanism 34 is fixed on the outer upper part of the z-direction transmission mechanism 33, and the lifting andtranslation mechanism 43 is fixed on the y-direction on one side of the z-direction transmission mechanism 33. On the top of thetransmission mechanism 31, ashield 32 is arranged on the outside of the z-direction transmission mechanism 33 and the z-direction drive mechanism 34, the horizontalrotation drive mechanism 35 is arranged on the top of thelifting translation mechanism 43, and the vertical rotation drive mechanism 36 is arranged on the horizontal rotation drive mechanism. 35, the C-shapedarm support frame 37 is fixed on one side of the horizontalrotation drive mechanism 35, the C-shapedarm drive mechanism 41 is fixed in the C-shapedarm support frame 37, and the C-shaped arm 38 is located on the C-shapedarm support frame 37 And on the outside of the C-shapedarm driving mechanism 41, the C-shaped guide rail 39 is fixed on the C-shaped arm 38, theX-ray emitting device 40 is fixed on the upper end of the C-shaped arm 38, and theX-ray receiving device 42 is fixed on the lower end of the C-shaped arm 38 . (See Fig. 5) The multifunctionalautomatic operating bed 15 is composed of a head andback board 47, atraction retaining post 48, aturning mechanism 49, athigh board 50, acalf board 51, a lower legboard turning mechanism 52, a bedsurface turning mechanism 53, and a y-direction translation mechanism 54. Thex-direction translation mechanism 55, thebase 56, themotor 58, thebracket 59, and the z-direction translation mechanism 60 are composed of thex-direction translation mechanism 55 fixed on the upper side of thebase 56, and the y-direction translation mechanism 54 fixed on the upper part of thex-direction translation mechanism 55. On one side, the z-direction translation mechanism 60 is fixed on the upper part of the y-direction translation mechanism 54, the outside of the z-direction translation mechanism 60 is fixed with abracket 59, the bottom of the z-direction translation mechanism 60 is fixed with amotor 58, and thehead backplane 47 is arranged on thebracket 59 The upper end of thethigh board 50 is connected with an end of the head andback board 47 by theturning mechanism 49 on one side, and the other side of thethigh board 50 is connected with thelower leg board 51 by the lower legboard turning mechanism 52, and thetraction stop post 48 is fixed on On the upper plane of the head-back board 47 on one side of thethigh board 50 , the bedsurface turning mechanism 53 is fixed on thesupport 59 on one side of thethigh board 50 and connected with the bottom of the head-back board 47 .

手术流程：Surgical procedure:

1、通过正骨调整机构2、正骨固定机构3等辅助设施，将患者固定在多功能自动手术床15上。1. Fix the patient on the multifunctionalautomatic operating bed 15 through auxiliary facilities such as the bone setting adjustment mechanism 2 and the bone setting fixing mechanism 3 .

2、调整多功能自动手术床15与医用牵引复位并联机器人1之间的相对位置关系，预紧。2. Adjust the relative positional relationship between the multifunctionalautomatic operating bed 15 and the medical traction and resetparallel robot 1, and pre-tighten it.

3、医生在主手端远距离控制机构控制单元9，驱动从手端的高精度全自动C形臂X光机4拍摄患者断骨处的X光图像，经高速图像采集卡7采集后，送到第一图像处理单元8进行处理，获得骨断处的信息，并数字化，然后由从手控制站16通过网络传递到主手控制站17，显示在监视器19上。3. The doctor remotely controls the mechanism control unit 9 at the main hand end to drive the high-precision fully automatic C-arm X-ray machine 4 at the hand end to take the X-ray images of the patient's broken bones. After being collected by the high-speed image acquisition card 7, send them to Go to the first image processing unit 8 for processing, obtain the information of the bone fracture, and digitize it, then transfer it from the slave hand control station 16 to the master hand control station 17 through the network, and display it on the monitor 19.

4、医生根据数字化信息和X光图像，进行手术规划，确定手术方案。4. According to the digital information and X-ray images, the doctor plans the operation and determines the operation plan.

5、医生通过虚拟手术仿真系统18演示手术的整个过程，根据仿真结果，对手术方案进行修改，直到满意为止。5. The doctor demonstrates the whole operation process through the virtual operation simulation system 18, and modifies the operation plan according to the simulation results until the operation is satisfactory.

6、医生根据手术方案，在主手端通过遥操作并联主手20控制医用牵引复位并联机器人1，医用牵引复位并联机器人1在第一机器人控制器13和第一伺服、力控制单元14的驱动下完成牵引、复位等正骨动作。第一位置/力信号采集卡12采集医用牵引复位并联机器人1上的第二位置传感器10′和第二力传感器11′信息，反馈到主手控制站17，再通过遥操作并联主手20上的第三位置传感器10″、第三力传感器11″、第三位置/力信号采集卡12″、第三机器人控制器13″和第三伺服、力控制单元14″作用在遥操作并联主手20上，使医生具有力的感觉，就好像亲手做手术一样；6. According to the operation plan, the doctor controls the medical traction resetparallel robot 1 through the remote operation parallel main hand 20 on the main hand end, and the medical traction resetparallel robot 1 is driven by the first robot controller 13 and the first servo and force control unit 14. Traction, reduction and other bone-setting actions can be completed. The first position/force signal acquisition card 12 collects the information of the second position sensor 10' and the second force sensor 11' on the medical traction resetparallel robot 1, feeds back the information to the main hand control station 17, and then connects the main hand 20 in parallel through remote operation The third position sensor 10 ″, the third force sensor 11 ″, the third position/force signal acquisition card 12 ″, the third robot controller 13 ″ and the third servo and force control unit 14 ″ act on the remote operation parallel main hand On 20, it makes the doctor feel powerful, just like performing surgery with his own hands;

7、控制高精度全自动C形臂X光机4，拍摄患者断骨处图像，确认牵引、复位效果。7. Control the high-precision automatic C-arm X-ray machine 4 to take images of the patient's broken bone and confirm the effect of traction and reset.

8、牵引、复位效果达到要求后，医生手动将带锁髓内钉插入骨髓腔。8. After the traction and reduction effects meet the requirements, the doctor manually inserts the interlocking intramedullary nail into the bone marrow cavity.

9、控制高精度全自动C形臂X光机4，拍摄包含髓内钉近端和远端锁孔的照片，经图像处理后，确定每个锁孔在图像空间的位置和空间姿态。9. Control the high-precision fully automatic C-arm X-ray machine 4 to take pictures including the proximal and distal keyholes of the intramedullary nail. After image processing, determine the position and spatial posture of each keyhole in the image space.

10、图像空间、机器人空间、手术空间的坐标转换。10. Coordinate transformation of image space, robot space, and operation space.

11、根据获得的机器人位置和姿态信息，通过导航机器人5上的第一位置传感器10、第一力传感器11、第一位置/力信号采集卡12、第一机器人控制器13和第一伺服、力控制单元14驱动导航机器人5运动到相应位置，使导航机器人5的末端执行器从空间(位置和姿态)瞄准每个锁孔。11. According to the obtained robot position and attitude information, through the first position sensor 10 on thenavigation robot 5, the first force sensor 11, the first position/force signal acquisition card 12, the first robot controller 13 and the first servo, The force control unit 14 drives thenavigation robot 5 to move to a corresponding position, so that the end effector of thenavigation robot 5 is aimed at each keyhole from space (position and attitude).

12、医生在机器人导航下完成钻孔(或由机器人直接钻孔)。12. The doctor completes the drilling under the robot navigation (or directly drills the hole by the robot).

13、医生置入锁钉、缝合、术后处理。13. The doctor inserts locking nails, sutures, and performs postoperative treatment.

14、手术完毕。14. The operation is completed.

15、整个手术在CCD摄像机6监视下进行。15. The whole operation is carried out under the monitoring of the CCD camera 6 .

Claims (4)

Translated fromChinese

1、机器人辅助带锁髓内钉正骨手术医疗系统，它由从手端(80)和主手端(70)组成，从手端(80)由医用牵引复位并联机器人(1)、正骨调整机构(2)、正骨复位机构(3)、高精度全自动C形臂X光机(4)、导航机器人(5)、CCD摄像机(6)、高速图像采集卡(7)、第一图像处理单元(8)、机构控制单元(9)、第一位置传感器(10)、第一力传感器(11)、第一位置/力信号采集卡(12)、第一机器人控制器(13)、第一伺服、力控制单元(14)、多功能自动手术床(15)、从手控制站(16)、第二位置传感器(10′)、第二力传感器(11′)、第二位置/力信号采集卡(12′)、第二机器人控制器(13′)、第二伺服、力控制单元(14′)组成；其特征是主手端(70)由主手控制站(17)、虚拟手术仿真系统(18)、监视器(19)、遥操作并联主手(20)、第三力传感器(11″)、第三位置/力信号采集卡(12″)、第三机器人控制器(13″)、第三伺服、力控制单元(14″)、第三位置传感器(10″)、第二图像处理单元(8′)组成；从手端(80)的医用牵引复位并联机器人(1)设置在多功能自动手术床(15)的前侧，正骨调整机构(2)设置在医用牵引复位并联机器人(1)上，正骨固定机构(3)设置在多功能自动手术床(15)上的前侧，高精度全自动C形臂X光机(4)设在多功能自动手术床(15)的左侧，导航机器人(5)设在多功能自动手术床(15)的右侧，高精度全自动C形臂X光机(4)的输出端与高速图像采集卡(7)的输入端(a)相连接，CCD摄像机(6)的输出端与高速图像采集卡(7)的输入端(b)相连接，高速图像采集卡(7)的输出端与第一图像处理单元(8)的输入端相连接，第一图像处理单元(8)的输出端与从手控制站(16)的输入端(z)相连接，机构控制单元(9)的双向端口(C)与CCD摄像头(6)的双向端口相连接，机构控制单元(9)的双向端口(d)与高精度全自动C形臂X光机(4)的双向端口相连接，机构控制单元(9)的双向端口(y)与从手控制站(16)的双向端口(k)相连接，第一位置传感器(10)的输出端与第一位置/力信号采集卡(12)的输入端(e)相连接，第一位置传感器(10)的输出端(f)与导航机器人(5)的输入端相连接，导航机器人(5)的输出端与第一力传感器(11)的输入端相连接，第一力传感器(11)的输出端与第一位置/力信号采集卡(12)的输入端相连接，第一位置/力信号采集卡(12)的输出端与第一机器人控制器(13)的输入端(h)相连接，第一机器人控制器(13)的输出端与第一伺服、力控制单元(14)的输入端相连接，第一伺服、力控制单元(14)的输出端与导航机器人(5)的输入端(g)相连接，第一机器人控制器(13)的双向端口(j)与从手控制站(16)的双向端口(m)相连接，医用牵引复位并连机器人(1)上的输出端与第二位置传感器(10′)的输入端相连接，第二位置传感器(10′)的输出端与第二位置/力信号采集卡(12′)的输入端相连接，第二位置/力信号采集卡(12′)的输出端与第二机器人控制器(13′)的输入端相连接，第二机器人控制器(13′)的输出端与第二伺服、力控制单元(14′)的输入端相连接，第二伺服、力控制单元(14′)的输出端与医用牵引复位并联机器人(1)的输入端相连接，医用牵引复位并联机器人(1)的输出端(o)与第二力传感器(11′)的输入端相连接，第二力传感器(11′)的输出端与第二位置/力信号采集卡(12′)的输入端(p)相连接，第二机器人控制器(13′)的双向端口(q)与从手控制站(16)的双向端口(n)相连接；主手端(70)的遥操作并联主手(20)的输出端与第三力传感器(11″)的输入端相连接，第三力传感器(11″)的输出端与第三位置/力信号采集卡(12″)的输入端(S)相连接，遥操作并联主手(20)的输出端(r)与第三位置传感器(10″)的输入端相连接，第三位置传感器(10″)的输出端与第三位置/力信号采集卡(12″)的输入端相连接，第三位置/力信号采集卡(12″)的输出端与第三机器人控制器(13″)的输入端相连接，第三机器人控制器(13″)的输出端与第三伺服、力控制单元(14″)的输入端相连接，第三伺服、力控制单元(14″)的输出端与遥操作并联主手(20)的输入端相连接，第三机器人控制器(13″)的双向端口与主手控制站(17)的双向端口相连接，主手控制站(17)的输出端(w)与虚拟手术仿真系统(18)的输入端相连接，主手控制站(17)的输出端(t)与第二图像处理单元(8′)的输入端相连接，第二图像处理单元(8′)的输出端与虚拟手术仿真系统(18)的输出端共同接入监视器(19)；从手控制站(16)与主手控制站(17)之间通过网络(90)相连接。1. Robot-assisted interlocking intramedullary nail bone setting surgery medical system, which consists of a slave hand end (80) and a master hand end (70), the slave hand end (80) is reset by medical traction and parallel robot (1), bone setting adjustment mechanism (2), bone-setting reset mechanism (3), high-precision automatic C-arm X-ray machine (4), navigation robot (5), CCD camera (6), high-speed image acquisition card (7), first image processing unit (8), mechanism control unit (9), first position sensor (10), first force sensor (11), first position/force signal acquisition card (12), first robot controller (13), first Servo, force control unit (14), multifunctional automatic operating table (15), slave hand control station (16), second position sensor (10'), second force sensor (11'), second position/force signal Acquisition card (12'), second robot controller (13'), second servo, force control unit (14'); It is characterized in that the main hand terminal (70) is composed of main hand control station (17), virtual surgery Simulation system (18), monitor (19), remote operation parallel main hand (20), third force sensor (11 "), third position/force signal acquisition card (12 "), third robot controller (13 ″), a third servo, a force control unit (14″), a third position sensor (10″), and a second image processing unit (8′); the parallel robot (1) is reset from the medical traction of the hand terminal (80) It is arranged on the front side of the multifunctional automatic operating bed (15), the bone setting adjustment mechanism (2) is arranged on the medical traction reset parallel robot (1), and the bone setting fixing mechanism (3) is arranged on the multifunctional automatic operating bed (15). On the front side, the high-precision full-automatic C-arm X-ray machine (4) is located on the left side of the multifunctional automatic operating bed (15), and the navigation robot (5) is located on the right side of the multifunctional automatic operating bed (15). The output end of the precision automatic C-arm X-ray machine (4) is connected to the input end (a) of the high-speed image acquisition card (7), and the output end of the CCD camera (6) is connected to the input of the high-speed image acquisition card (7). end (b) is connected, the output end of the high-speed image acquisition card (7) is connected with the input end of the first image processing unit (8), and the output end of the first image processing unit (8) is connected with the slave control station (16 ), the bidirectional port (C) of the mechanism control unit (9) is connected with the bidirectional port of the CCD camera (6), and the bidirectional port (d) of the mechanism control unit (9) is connected with the high precision full The bidirectional port of the automatic C-arm X-ray machine (4) is connected, the bidirectional port (y) of the mechanism control unit (9) is connected with the bidirectional port (k) of the slave control station (16), and the first position sensor ( 10) the output terminal is connected with the input terminal (e) of the first position/force signal acquisition card (12), and the output terminal (f) of the first position sensor (10) is connected with the input terminal of the navigation robot (5) , the output end of the navigation robot (5) is connected with the input end of the first force sensor (11), and the output end of the first force sensor (11) is connected with the input end of the first position/force signal acquisition card (12) , the output end of the first position/force signal acquisition card (12) is connected with the input end (h) of the first robot controller (13), and the output end of the first robot controller (13) is connected with the first servo, force The input of the control unit (14) is connected, the output of the first servo and force control unit (14) is connected with the input (g) of the navigation robot (5), and the bidirectional port of the first robot controller (13) (j) be connected with the bidirectional port (m) of the slave hand control station (16), the output terminal on the medical traction reset and connected robot (1) is connected with the input terminal of the second position sensor (10′), the second The output end of the position sensor (10') is connected with the input end of the second position/force signal acquisition card (12'), and the output end of the second position/force signal acquisition card (12') is connected with the second robot controller ( 13 ') input end is connected, the output end of the second robot controller (13 ') is connected with the input end of the second servo, force control unit (14 '), the second servo, force control unit (14 ') The output terminal of the medical traction reset parallel robot (1) is connected with the input terminal of the medical traction reset parallel robot (1), and the output terminal (o) of the medical traction reset parallel robot (1) is connected with the input terminal of the second force sensor (11′), and the second force The output end of the sensor (11') is connected with the input end (p) of the second position/force signal acquisition card (12'), and the bidirectional port (q) of the second robot controller (13') is connected with the slave hand control station The bidirectional port (n) of (16) is connected; The output terminal of the teleoperation parallel main hand (20) of main hand end (70) is connected with the input end of the 3rd force sensor (11 "), the 3rd force sensor ( 11 ") output end is connected with the input end (S) of the third position/force signal acquisition card (12 "), and the output end (r) of the main hand (20) is connected in parallel with the third position sensor (10 " ), the output end of the third position sensor (10 ") is connected with the input end of the third position/force signal acquisition card (12 "), the third position/force signal acquisition card (12 ") The output end is connected with the input end of the third robot controller (13 "), the output end of the third robot controller (13 ") is connected with the input end of the third servo and force control unit (14 "), and the third The output end of the servo and force control unit (14 ") is connected with the input end of the remote operation parallel main hand (20), and the bidirectional port of the third robot controller (13 ") is connected with the bidirectional port of the main hand control station (17). The output terminal (w) of the main hand control station (17) is connected with the input terminal of the virtual surgery simulation system (18), and the output terminal (t) of the main hand control station (17) is connected with the second image processing unit ( 8') input terminal is connected, the output terminal of the second image processing unit (8') and the output terminal of the virtual surgery simulation system (18) are commonly connected to the monitor (19); from the hand control station (16) to the main The hand control stations (17) are connected through a network (90).2、根据权利要求1所述的机器人辅助带锁髓内钉正骨手术医疗系统，其特征在于医用牵引复位并联机器人(1)由上平台(21)、虎克铰支链(22)、虎克铰(23)、滚珠丝杠装置(24)、联轴器(25)、连接平台(26)、支撑架(27)、下平台(28)、电机(29)组成，支撑架(27)固定在连接平台(26)与下平台(28)之间，电机(29)固定在下平台(28)的下侧，联轴器(25)的下端与电机(29)的输出轴相连接，联轴器(25)的上端与滚珠丝杠装置(24)的下端相连接，滚珠丝杠装置(24)的上端与虎克铰(23)的下端相连接，虎克铰(23)的上部与虎克铰支链(22)的下端相连接，虎克铰支链(22)的上部与上平台(21)的下侧铰接。2. The robot-assisted locking intramedullary nail orthopedic surgery medical system according to claim 1, characterized in that the medical traction reset parallel robot (1) consists of an upper platform (21), a Hooke hinge branch chain (22), a Hooke Hinge (23), ball screw device (24), shaft coupling (25), connecting platform (26), support frame (27), lower platform (28), motor (29) is formed, and support frame (27) is fixed Between the connecting platform (26) and the lower platform (28), the motor (29) is fixed on the lower side of the lower platform (28), and the lower end of the coupling (25) is connected with the output shaft of the motor (29), and the shaft coupling The upper end of device (25) is connected with the lower end of ball screw device (24), and the upper end of ball screw device (24) is connected with the lower end of Hooke hinge (23), and the top of Hooke hinge (23) is connected with tiger hinge (23). The lower end of the gram hinge branch chain (22) is connected, and the top of the Hooke hinge branch chain (22) is hinged with the underside of the upper platform (21).3、根据权利要求1所述的机器人辅助带锁髓内钉正骨手术医疗系统，其特征在于高精度全自动C形臂X光机(4)由y向驱动机构(30)、y向传动机构(31)、护罩(32)、z向传动机构(33)、z向驱动机构(34)、水平旋转驱动机构(35)、垂直旋转驱动机构(36)、C形臂支撑架(37)、C形臂(38)、C形导轨(39)、X光发射装置(40)、C形臂驱动机构(41)、X光接收装置(42)、升降平移机构(43)、直线导轨(44)、底座(45)、x向驱动机构(46)组成，直线导轨(44)设在底座(45)上，y向传动机构(31)设置在直线导轨(44)上，y向驱动机构(30)固定在y向传动机构(31)的一侧上，x向驱动机构(46)固定在y向传动机构(31)的下部，z向传动机构(33)固定在y向传动机构(31)的上部，z向驱动机构(34)固定在z向传动机构(33)的外侧上部，升降平移机构(43)固定在z向传动机构(33)一侧的y向传动机构(31)的上部，z向传动机构(33)及z向驱动机构(34)的外侧设有护罩(32)，水平旋转驱动机构(35)设置在升降平移机构(43)的上部，垂直旋转驱动机构(36)设置在水平旋转驱动机构(35)的上部，C形臂支撑架(37)固定在水平旋转驱动机构(35)的一侧上，C形臂驱动机构(41)固定在C形臂支撑架(37)内，C形臂(38)设在C形臂支撑架(37)及C形臂驱动机构(41)的外侧上，C形导轨(39)固定在C形臂(38)上，X光发射装置(40)固定在C形臂(38)的上端，X光接收装置(42)固定在C形臂(38)的下端。3. The robot-assisted locking intramedullary nail orthopedic surgery medical system according to claim 1, characterized in that the high-precision automatic C-arm X-ray machine (4) consists of a y-direction drive mechanism (30), a y-direction transmission mechanism (31), shield (32), z-direction transmission mechanism (33), z-direction drive mechanism (34), horizontal rotation drive mechanism (35), vertical rotation drive mechanism (36), C-shaped arm support frame (37) , C-arm (38), C-shaped guide rail (39), X-ray emitting device (40), C-arm drive mechanism (41), X-ray receiving device (42), lifting translation mechanism (43), linear guide rail ( 44), the base (45), and the x-direction drive mechanism (46). (30) is fixed on one side of the y-direction transmission mechanism (31), the x-direction drive mechanism (46) is fixed on the bottom of the y-direction transmission mechanism (31), and the z-direction transmission mechanism (33) is fixed on the y-direction transmission mechanism ( 31), the z-direction drive mechanism (34) is fixed on the outer upper part of the z-direction transmission mechanism (33), and the lifting and translation mechanism (43) is fixed on the y-direction transmission mechanism (31) on one side of the z-direction transmission mechanism (33) The upper part of the z-direction transmission mechanism (33) and the outer side of the z-direction drive mechanism (34) are provided with a shield (32), the horizontal rotation drive mechanism (35) is arranged on the top of the lifting translation mechanism (43), and the vertical rotation drive mechanism (36) is arranged on the top of the horizontal rotation drive mechanism (35), the C-shaped arm support frame (37) is fixed on one side of the horizontal rotation drive mechanism (35), and the C-shaped arm drive mechanism (41) is fixed on the C-shaped arm In the support frame (37), the C-shaped arm (38) is located on the outside of the C-shaped arm support frame (37) and the C-shaped arm drive mechanism (41), and the C-shaped guide rail (39) is fixed on the C-shaped arm (38) On, the X-ray emitting device (40) is fixed on the upper end of the C-shaped arm (38), and the X-ray receiving device (42) is fixed on the lower end of the C-shaped arm (38).4、根据权利要求1所述的机器人辅助带锁髓内钉正骨手术医疗系统，其特征在于多功能自动手术床(15)由头背板(47)、牵引挡柱(48)、翻转机构(49)、大腿板(50)、小腿板(51)、小腿板下翻机构(52)、床面翻转机构(53)、y向平移机构(54)、x向平移机构(55)、底座(56)、电机(58)、支架(59)、z向平移机构(60)组成，x向平移机构(55)固定在底座(56)上侧，y向平移机构(54)固定在x向平移机构(55)上部的一侧，z向平移机构(60)固定在y向平移机构(54)的上部，z向平移机构(60)的外部固定有支架(59)，z向平移机构(60)的底部固定有电机(58)，头背板(47)设在支架(59)的上端，大腿板(50)的一侧由翻转机构(49)与头背板(47)的一端相连接，大腿板(50)的另一侧由小腿板下翻机构(52)与小腿板(51)相连接，牵引挡柱(48)固定在大腿板(50)一侧的头背板(47)的上平面上，床面翻转机构(53)固定在大腿板(50)一侧的支架(59)上并与头背板(47)的下部相连接。4. The robot-assisted locking intramedullary nail orthopedic surgery medical system according to claim 1, characterized in that the multi-functional automatic operating bed (15) consists of a head-back board (47), a traction stop post (48), a turning mechanism (49 ), thigh board (50), calf board (51), lower leg board turning mechanism (52), bed surface turning mechanism (53), y-direction translation mechanism (54), x-direction translation mechanism (55), base (56 ), a motor (58), a bracket (59), and a z-direction translation mechanism (60), the x-direction translation mechanism (55) is fixed on the upper side of the base (56), and the y-direction translation mechanism (54) is fixed on the x-direction translation mechanism (55) one side of top, z is fixed on the top of y to translation mechanism (54) to translation mechanism (60), z is fixed with support (59) to the outside of translation mechanism (60), z to translation mechanism (60) The bottom of the bottom is fixed with motor (58), and head back board (47) is located at the upper end of support (59), and one side of thigh board (50) is connected with an end of head back board (47) by turning mechanism (49), The other side of the thigh board (50) is connected with the lower leg board (51) by the lower leg board turning mechanism (52), and the traction retaining column (48) is fixed on the back of the head (47) on the thigh board (50) one side. On the upper plane, the bed surface turnover mechanism (53) is fixed on the support (59) on one side of the thigh board (50) and is connected with the bottom of the head-back board (47).

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