阅读说明：本技术 一种六轴并联支架治疗系统 (Six-shaft parallel bracket treatment system ) 是由 万春友 于宝刚 尹文学 于 2019-11-28 设计创作，主要内容包括：本发明涉及医疗器械领域,公开了一种六轴并联支架治疗系统,包括六轴并联支架和远程控制模块,能够根据预设调整参数控制六轴并联支架的每个电动推杆进行自动调节,大大地降低了人为干预,解决了采用手动调节时存在的智能化程度低、调节过程繁琐易出错、调节不符合人体组织生长规律、需要人工测量与计算等问题。本发明增设了力学传感器,用于实时检测目标部位作用于每个电动推杆上的作用力,将目标部位作用于所有电动推杆上的作用力的合力和预设作用力的比值作为康复程度判断标准,在经过预设调整次数调节后且每个电动推杆的当前伸缩量等于对应的预设总伸长量时,根据判断康复程度的比值与预设比值之间的大小关系,确定拆除六轴并联支架的时间。(The invention relates to the field of medical instruments and discloses a six-axis parallel bracket treatment system which comprises six-axis parallel brackets and a remote control module, wherein each electric push rod of each six-axis parallel bracket can be controlled to automatically adjust according to preset adjustment parameters, so that the human intervention is greatly reduced, and the problems of low intelligent degree, complicated adjustment process, easiness in error, incapability of conforming to the growth rule of human tissues in adjustment, need of manual measurement and calculation and the like in manual adjustment are solved. The six-shaft parallel bracket dismantling device is additionally provided with a mechanical sensor for detecting the acting force of a target part acting on each electric push rod in real time, the ratio of the resultant force of the acting forces of the target part acting on all the electric push rods to a preset acting force is used as a rehabilitation degree judgment standard, and the dismantling time of the six-shaft parallel bracket is determined according to the size relation between the ratio of the judgment rehabilitation degree and the preset ratio when the preset adjustment times are adjusted and the current expansion amount of each electric push rod is equal to the corresponding preset total elongation.)

1. A six-axis parallel bracket treatment system comprises a six-axis parallel bracket arranged at a target part, and is characterized in that the six-axis parallel bracket comprises an upper ring, a lower ring, a plurality of telescopic electric push rods which are connected with the upper ring and the lower ring, a mechanical sensor and a bracket control module which are used for detecting the acting force of the target part acting on each electric push rod in real time, wherein two ends of each electric push rod are respectively connected with the upper ring and the lower ring through universal structures, and the bracket control module can be communicated with each mechanical sensor and each electric push rod;

the six-axis parallel bracket treatment system also comprises a remote control module, the bracket control module can be communicated with the remote control module, and the bracket control module is used for receiving and storing preset adjustment parameters sent by the remote control module and controlling each electric push rod to stretch and retract according to the preset adjustment parameters; the remote control module is used for receiving the measurement signal of the mechanical sensor sent by the support control module, taking the ratio of the resultant force of the acting forces of the target part acting on all the electric push rods and a preset acting force as a rehabilitation degree judgment standard, and determining the time for dismantling the six-axis parallel support according to the relation between the ratio of the judged rehabilitation degree and the preset ratio after the regulation of the preset adjustment times; the preset adjusting parameters comprise a preset total elongation, an initial telescopic amount, a preset adjusting amount and preset adjusting times of each electric push rod.

2. The six-axis parallel stent therapy system according to claim 1, wherein the six-axis parallel stent further comprises an energy storage battery for each of the stent control module, each of the motorized pushrods, and each of the mechanical sensors.

3. The six-axis parallel stent treatment system according to claim 2, wherein the six-axis parallel stent further comprises a display capable of communicating with the stent control module, and is used for displaying the preset adjustment parameters, the current expansion amount of each electric push rod and the ratio of the judgment on the rehabilitation degree, and the display is powered by the energy storage battery.

4. The six-axis parallel stent therapy system according to claim 1, further comprising:

the PC terminal is used for acquiring at least one pair of key points marked in the image data of the X-ray film of the target part and aligning or pre-estimating the relative positions of the key points after rehabilitation to determine preset adjustment parameters of the target part; or comparing the image data of the X-ray film of the target part with the target image data of the X-ray film of the mirror image part corresponding to the target part to determine the preset adjusting parameters of the target part.

5. The six-axis stent therapy system according to claim 4, wherein the remote control module is a cloud platform capable of communicating with the PC terminal, the cloud platform being configured to obtain and store the preset adjustment parameters from the PC terminal.

6. The six-axis parallel stent therapy system according to claim 5, wherein the cloud platform is further configured to optimize the next preset adjustment parameter and send the optimized preset adjustment parameter to the stent control module when a difference between an acting force of the target site acting on each electric push rod and a theoretical force corresponding to a current stretching amount of the electric push rod is within a first preset range or a difference between a resultant force of acting forces on at least two electric push rods and a resultant force of theoretical forces corresponding to a current stretching amount of the electric push rods is within a second preset range before each adjustment after the preset adjustment parameter is sent to the stent control module for the first time; if not, the support control module controls the electric push rod to stretch according to the preset adjustment parameters.

7. The six-axis parallel stent therapy system according to claim 6, further comprising a mobile terminal, wherein the mobile terminal can communicate with the cloud platform, the cloud platform can acquire the preset adjustment parameters from the mobile terminal or the PC terminal in an interlocking manner, and the cloud platform can further send the preset adjustment parameters, the current expansion amount of each electric push rod, and a ratio of the determined rehabilitation degree to the mobile terminal.

8. The six-axis parallel stent therapy system according to claim 1, wherein said power-driven push rod comprises a guide sleeve having one end connected to one of said gimbal structures, and disposed within said guide sleeve:

the speed reducing motor is electrically connected to the bracket control module;

one end of the screw rod is connected with the output end of the speed reducing motor;

and the transmission rod is threaded on the screw rod, one end of the transmission rod extends out of the guide sleeve and is connected to the other universal structure (14), and the rotation of the transmission rod relative to the screw rod is limited.

9. The six-axis parallel stent therapy system according to claim 8, wherein one of the transmission rod and the guide sleeve is provided with a slide slot extending axially along the transmission rod, and the other is provided with a slide block capable of being inserted into the slide slot and reciprocating in the slide slot.

10. The six-axis parallel stent therapy system according to claim 8, wherein said stent control module is disposed on said upper ring, and said mechanical sensors are disposed between each of said motorized push rods and the gimbal structure thereof that connects to said upper ring;

or the support control module is arranged on the lower ring, and the mechanical sensor is arranged between each electric push rod and the universal structure connected with the lower ring.

Technical Field

The invention relates to the field of medical instruments, in particular to a six-axis parallel bracket treatment system.

Background

The six-axis parallel stent represented by the Taylor stent is a fixed medical instrument which is widely applied to the fields of wound repair, limb orthopedic treatment and reconstruction according to a tension-stress rule and based on biomechanics. The traditional six-axis parallel bracket treatment system consists of a software system and a six-axis parallel bracket, wherein the software system is used for determining the malformation parameters of a patient, the bracket installation parameters, the electronic prescription and the like.

The software system of the existing six-axis parallel bracket system has low intelligent degree, and the manual adjustment has the defects of tedious adjustment, incapability of ensuring that the adjustment of the bracket completely accords with the growth rule of human tissues and the like.

Disclosure of Invention

The invention aims to provide a six-axis parallel bracket treatment system which can improve the intelligent degree and realize the automatic adjustment of parameters in the application process.

In order to achieve the purpose, the invention adopts the following technical scheme:

a six-shaft parallel bracket treatment system comprises a six-shaft parallel bracket arranged at a target part, wherein the six-shaft parallel bracket comprises an upper ring, a lower ring, a plurality of telescopic electric push rods which are connected with the upper ring and the lower ring, a mechanical sensor and a bracket control module which are used for detecting acting force of the target part acting on each electric push rod in real time, two ends of each electric push rod are respectively connected with the upper ring and the lower ring through universal structures, and the bracket control module can be communicated with each mechanical sensor and each electric push rod;

the six-axis parallel bracket treatment system also comprises a remote control module, the bracket control module can be communicated with the remote control module, and the bracket control module is used for receiving preset adjustment parameters sent by the remote control module and controlling the action of each electric push rod according to the preset adjustment parameters; the remote control module is used for receiving the measurement signal of the mechanical sensor sent by the support control module, taking the ratio of the acting force of the target part acting on all the electric push rods to a preset acting force as a rehabilitation degree judgment standard, and determining the time for dismantling the six-axis parallel support according to the relation between the ratio of the judged rehabilitation degree and the preset ratio after the regulation of the preset adjustment times; the preset adjusting parameters comprise a preset total elongation, an initial telescopic amount, a preset adjusting amount and preset adjusting times of each electric push rod.

As a preferable technical solution of the above six-axis parallel stent treatment system, the six-axis parallel stent further includes an energy storage battery for charging the stent control module, each electric push rod, and each mechanical sensor.

As a preferable technical solution of the six-axis parallel bracket treatment system, the six-axis parallel bracket further includes a display capable of communicating with the bracket control module, and is configured to display the preset adjustment parameter, the current expansion amount of each electric push rod, and a ratio of the determined rehabilitation degree, and the energy storage battery supplies power to the display.

As a preferable technical solution of the six-axis parallel stent treatment system, the system further comprises:

the PC terminal is used for acquiring at least one pair of key points marked in the image data of the X-ray film of the target part and aligning or pre-estimating the relative positions of the key points after rehabilitation to determine preset adjustment parameters of the target part; or comparing the image data of the X-ray film of the target part with the target image data of the X-ray film of the mirror image part corresponding to the target part to determine the preset adjusting parameters of the target part.

As an optimal technical scheme of the six-axis parallel stent treatment system, the remote control module is a cloud platform, the cloud platform can communicate with the PC terminal, and the cloud platform is used for acquiring and storing the preset adjustment parameters from the PC terminal.

As a preferred technical solution of the six-axis parallel stent treatment system, the cloud platform is further configured to, before each adjustment after the preset adjustment parameters are sent to the stent control module for the first time, optimize the preset adjustment parameters after each adjustment when a difference between an acting force of the target portion acting on each electric push rod and a theoretical force corresponding to a current stretching amount of the electric push rod is within a first preset range or a difference between a resultant force of acting forces on at least two electric push rods and a resultant force of theoretical forces corresponding to a current stretching amount of the electric push rods is within a second preset range, and send the optimized preset adjustment parameters to the stent control module; if not, the support control module controls the electric push rod to stretch according to the preset adjustment parameters.

As an optimal technical scheme of the six-axis parallel bracket treatment system, the six-axis parallel bracket treatment system further comprises a mobile terminal, wherein the mobile terminal can be in communication with the cloud platform, the cloud platform can obtain the preset adjustment parameters from the mobile terminal or the PC end in an interlocking manner, and the cloud platform can also send the preset adjustment parameters, the current stretching amount of each electric push rod and the ratio of the judgment on the rehabilitation degree to the mobile terminal.

As a preferable technical solution of the above six-axis parallel stent treatment system, the electric push rod includes a guide sleeve having one end connected to one of the universal structures, and is disposed in the guide sleeve:

the speed reducing motor is electrically connected to the bracket control module;

one end of the screw rod is connected with the output end of the speed reducing motor;

and one end of the transmission rod extends out of the guide sleeve and is connected to the other universal structure, and the rotation of the transmission rod relative to the screw rod is limited.

As a preferable technical solution of the six-axis parallel bracket therapy system, one of the transmission rod and the guide sleeve is provided with a sliding groove extending along the axial direction of the transmission rod, and the other is provided with a sliding block capable of being inserted into the sliding groove and reciprocating in the sliding groove.

As a preferred technical solution of the six-axis parallel stent treatment system, the stent control module is disposed on the upper ring, and the mechanical sensor is disposed between each electric push rod and the universal structure thereof connected to the upper ring;

or the support control module is arranged on the lower ring, and the mechanical sensor is arranged between each electric push rod and the universal structure connected with the lower ring.

The invention has the beneficial effects that: the six-axis parallel bracket treatment system provided by the invention can control each electric push rod of the six-axis parallel bracket to automatically adjust according to the preset adjustment parameters, thereby greatly reducing human intervention, and solving the problems of low intelligent degree, complicated adjustment process, easy error and non-conformity of adjustment with the growth rule of human tissues when manual adjustment is adopted.

The six-axis parallel bracket treatment system provided by the invention is additionally provided with the mechanical sensor for detecting the acting force of the target part acting on each electric push rod in real time, the ratio of the resultant force of the acting forces of the target part acting on all the electric push rods to the preset acting force is used as a rehabilitation degree judgment standard, and the time for dismantling the six-axis parallel bracket is determined according to the size relation between the ratio of the judgment rehabilitation degree and the preset ratio when the current expansion amount of each electric push rod is equal to the corresponding preset total elongation after the adjustment for the preset adjustment times.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a six-axis parallel support according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an electric putter according to an embodiment of the present invention;

FIG. 3 is a signal transmission diagram of an electro-kinetic six-axis parallel stent treatment system provided by an embodiment of the present invention;

fig. 4 is a flow chart of the electro-dynamic six-axis parallel stent treatment system for correcting and repairing deformities.

In the figure:

1. a six-shaft parallel bracket; 11. ring fitting; 12. a lower ring; 13. an electric push rod; 131. a guide sleeve; 132. a transmission rod; 133. a reduction motor; 134. a slider; 135. a nut; 136. installing a sleeve; 137. a lead screw; 14. a universal structure;

2. a support control module; 3. a display; 4. a mechanical sensor.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.