阅读说明：本技术 一种用于需要五个矫治自由度的大幅度足踝畸形的并联外固定器 (Parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom ) 是由 李剑锋 王煜 左世平 陶春静 李国通 于 2021-07-07 设计创作，主要内容包括：本发明涉及一种用于需要五个矫治自由度的大幅度足踝畸形的并联外固定器,主要包括参考平台、牵引平台和支撑杆。支撑杆包括4条六自由度支撑杆和1条五自由度支撑杆,在保证连接紧密性的同时,能够提高并联外固定器的工作空间,解决大幅度矫治所存在的干涉问题。本发明中的外固定器具有3个转动自由度以及2个移动自由度,能够矫正存在五个矫治自由度需求的大幅度足踝畸形。(The invention relates to a parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom, which mainly comprises a reference platform, a traction platform and a support rod. The supporting rods comprise 4 supporting rods with six degrees of freedom and 1 supporting rod with five degrees of freedom, the working space of the parallel external fixator can be increased while the connection tightness is ensured, and the problem of interference in large-amplitude correction is solved. The external fixator has 3 rotational degrees of freedom and 2 translational degrees of freedom, and can correct large-amplitude ankle deformity with five correction degrees of freedom.)

1. A parallel external fixator for large amplitude ankle deformity requiring five degrees of freedom correction, comprising: the parallel external fixator comprises a reference platform, a traction platform and support rods, wherein the support rods comprise 4 six-degree-of-freedom support rods and 1 five-degree-of-freedom support rod;

the reference platform and the traction platform are fixedly connected with a human body through spicules, a support rod is connected between the reference platform and the traction platform in parallel, and the traction platform moves relative to the reference platform through the driving of the support rod so as to achieve the correction operation;

the 4 six-degree-of-freedom support rods comprise a first six-degree-of-freedom support rod, a second six-degree-of-freedom support rod, a third six-degree-of-freedom support rod and a fourth six-degree-of-freedom support rod, the kinematic pairs of the six-degree-of-freedom support rod hooke pair and the six-degree-of-freedom support rod revolute pair are sequentially connected with a six-degree-of-freedom support rod ball pair, the six-degree-of-freedom support rod hooke pair is connected with the reference platform through screws, and the six-degree-of-freedom support rod ball pair is connected with the traction platform;

the kinematic pair of the five-freedom-degree supporting rod is a five-freedom-degree supporting rod ball pair, a five-freedom-degree supporting rod revolute pair A is sequentially connected with a five-freedom-degree supporting rod revolute pair B, the five-freedom-degree supporting rod hooke pair is connected with the reference platform through screws, and the five-freedom-degree supporting rod revolute pair B is fixedly connected with the traction platform through screws.

2. The parallel external fixator for large amplitude ankle deformity requiring five degrees of freedom of correction according to claim 1, wherein: annular positioning blocks are arranged on the reference platform and the traction platform, so that the spicules can be ensured to fix the reference platform and the traction platform according to expected positions.

3. The parallel external fixator for large-amplitude ankle deformity requiring five degrees of correction freedom of claim 1, wherein: the six-freedom-degree support rod revolute pair and the five-freedom-degree support rod revolute pair A are hinged with two ends of the sliding pair respectively to form a triangular stable configuration.

Technical Field

The invention relates to an ankle parallel external fixator system, in particular to a parallel mechanism for correcting large-amplitude ankle deformity.

Background

The ankle part has an extremely complex biomechanics mechanism, plays an important role in the process of adjusting the posture balance of a human body, and simultaneously has various shapes about the deformity of the ankle. For complicated ankle deformities, the required number of correction degrees of freedom may be 5, including a combination of 3 rotational degrees of freedom and 2 translational degrees of freedom. In clinical cases where there is a need for correction of symptoms, including: distal tibial posterior arch-varus deformity, and ankle joint fusion anterior horseshoe-varus deformity. In order to meet the requirement of the above deformity correction, the external fixator needs to have three rotational degrees of freedom and two degrees of freedom of movement.

Aiming at the condition that the ankle deformity has five-degree-of-freedom correction requirements, the development of the external fixator with corresponding degree of freedom is of great significance. The parallel mechanism is applied to the exoskeleton correction due to the characteristics of high precision, large load, good dynamic response, high degree of freedom and the like, and meanwhile, the mechanism has the characteristics of simple structure, low manufacturing cost and the like, so that the use cost of a patient can be reduced. Furthermore, in the face of large deformities, the external fixator needs to have the ability to reproduce the deformity in order to achieve an installation that simulates the deformity.

Disclosure of Invention

The present invention has been made to solve the above problems by providing a parallel external fixator for a large-amplitude ankle deformity requiring five degrees of freedom for correction.

The invention provides a parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom, which is characterized in that: the parallel external fixator comprises a reference platform, a traction platform and support rods, wherein the support rods comprise 4 six-degree-of-freedom support rods and 1 five-degree-of-freedom support rod;

furthermore, the reference platform and the traction platform are fixedly connected with the human body through spicules, a support rod is connected between the reference platform and the traction platform in parallel, and the traction platform moves relative to the reference platform through the driving of the support rod so as to achieve the correction operation;

further, the 4 six-degree-of-freedom support rods comprise a first six-degree-of-freedom support rod, a second six-degree-of-freedom support rod, a third six-degree-of-freedom support rod and a fourth six-degree-of-freedom support rod, the kinematic pairs of the six-degree-of-freedom support rod hooke pair and the six-degree-of-freedom support rod revolute pair are sequentially connected with a six-degree-of-freedom support rod ball pair, the six-degree-of-freedom support rod hooke pair is connected with the reference platform through screws, and the six-degree-of-freedom support rod ball pair is connected with the traction platform;

furthermore, the kinematic pair of the five-degree-of-freedom support rod is a five-degree-of-freedom support rod ball pair, a five-degree-of-freedom support rod revolute pair A is sequentially connected with a five-degree-of-freedom support rod revolute pair B, the five-degree-of-freedom support rod hooke pair is connected with the reference platform through screws, and the five-degree-of-freedom support rod revolute pair B is fixedly connected with the traction platform through screws;

further, a parallel external fixator for large-amplitude ankle deformity requiring five degrees of freedom of correction can accomplish 3 rotation correction operations and 2 movement correction operations.

Furthermore, annular positioning blocks arranged on the reference platform and the traction platform ensure that the spicules can fix the reference platform and the traction platform according to expected positions, and the reference platform and the traction platform are prevented from generating rotational offset and radial offset in the correcting process.

Further, the six-degree-of-freedom support rod revolute pair of 4 six-degree-of-freedom support rods and the five-degree-of-freedom support rod revolute pair A of 1 five-degree-of-freedom support rod are characterized in that: the six-degree-of-freedom support rod revolute pair and the five-degree-of-freedom support rod revolute pair A are hinged to the two ends of the sliding pair respectively to form a triangular stable structure, and the triangular stable structure can meet the requirement for correcting large-amplitude deformity while improving the stability of the revolute pair and the corresponding support rods.

Compared with the prior art, the invention has the beneficial effects that: the external fixator only aims at the condition that five degrees of freedom exist in ankle deformity and correction requirements are met, the number and the types of the degrees of freedom of the external fixator are exactly the same as the correction degrees of freedom needed by correction, and the phenomenon of redundancy of the degrees of freedom does not exist. The parallel external fixator has high configuration precision, has definite kinematics analysis and can accurately control the bone recovery; the arrangement of the revolute pairs can meet the correction requirement of large-amplitude deformity of the ankles

Drawings

FIG. 1 is a parallel external fixator reference platform and traction platform;

FIG. 2 is a view of a parallel external fixator reference platform annular locating block and a traction platform annular locating block;

FIG. 3 is a first six-degree-of-freedom support bar and a second six-degree-of-freedom support bar of the parallel external fixator;

FIG. 4 is a third six-degree-of-freedom support rod and a fourth six-degree-of-freedom support rod of the parallel external fixator;

FIG. 5 is a five-degree-of-freedom supporting rod of the parallel external fixator;

FIG. 6 is a schematic view of the configuration of the parallel external fixator for correcting distal tibial posterior arch-valgus deformity;

fig. 7 is a schematic view of the configuration of the parallel external fixator used for the horseshoe-varus deformity before ankle fusion.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

Referring to fig. 1 to 7, fig. 1 is a reference platform and a traction platform of a parallel external fixator, fig. 2 is an annular positioning block and an annular positioning block of the reference platform of the parallel external fixator, fig. 3 is a first six-degree-of-freedom support rod and a second six-degree-of-freedom support rod of the parallel external fixator, fig. 4 is a third six-degree-of-freedom support rod and a fourth six-degree-of-freedom support rod of the parallel external fixator, fig. 5 is a five-degree-of-freedom support rod of the parallel external fixator, fig. 6 is a configuration schematic diagram of the parallel external fixator for correcting distal tibial posterior arch-valgus deformity, and fig. 7 is a configuration schematic diagram of the parallel external fixator for ankle joint fusion anterior horseshoe-varus deformity.

In this embodiment, referring to fig. 1, the parallel external fixator reference platform and the traction platform include a reference platform 1 and a traction platform 2.

In this embodiment, referring to fig. 2, the reference platform annular positioning block of the parallel external fixator includes a spicule 3, a reference platform spicule positioning block 4, a reference platform spicule adjusting nut 5, a reference platform annular spicule positioning block 6, a reference platform spicule positioning nut 7, and a reference platform fastening butterfly cap 8, and the traction platform annular positioning block includes a spicule 9, a reference platform spicule positioning block 10, a reference platform spicule adjusting nut 11, a reference platform annular spicule positioning block 12, a reference platform spicule positioning nut 12, and a reference platform fastening butterfly cap 13.

In this embodiment, referring to fig. 3, the first six-degree-of-freedom support of the parallel external fixator includes a first six-degree-of-freedom support rod hooke pair U1, a first six-degree-of-freedom support rod sliding pair P1, a first six-degree-of-freedom support rod revolute pair R1, and a first six-degree-of-freedom support rod ball pair S1, in the first six-degree-of-freedom support rod hooke pair U1, the fastening screw 15 and the first six-degree-of-freedom support rod hooke pair U-shaped frame 16 are connected to the first six-degree-of-freedom support rod a 18 and the first six-degree-of-freedom support rod B19 via the first six-degree-of-freedom support rod hooke pair cross 17, in the first six-degree-of-freedom support rod P1, the first six-degree-of-freedom support rod sliding pair positioning nut 20, the first six-degree-of freedom support rod sliding groove 21, the first six-degree-of freedom support rod sliding pair adjusting nut 22, the first six-degree-of freedom support rod sliding pair 23, and the first six-degree-of freedom support rod sliding pair U-degree-freedom support rod sliding pair frame 27 are connected and adjusted to extend and extend, in the first six-degree-of-freedom support rod revolute pair R1, the first six-degree-of-freedom support rod a 18 and the first six-degree-of-freedom support rod B19 are connected to a first six-degree-of-freedom support rod revolute support rod C24 via a first six-degree-of-freedom support rod revolute pair rotary shaft 25, in the first six-degree-of-freedom support rod ball pair S1, a first six-degree-of-freedom support rod rotary support rod C24 is connected with a first six-degree-of-freedom support rod ball pair U-shaped block 29 through a first six-degree-of-freedom support rod ball pair cross 28, the first six-degree-of-freedom support rod ball pair U-shaped block 29 is connected with a first six-degree-of-freedom support rod ball pair rotating shaft 30, a first six-degree-of-freedom support rod moving pair P1 is connected with a first six-degree-of-freedom support rod rotating pair R1 through a rotating pair rotating shaft 26, the rotating angle of the first six-degree-of-freedom supporting rod revolute pair R1 is adjusted by adjusting the rod length of the first six-degree-of-freedom supporting rod revolute pair threaded rod 23 in the first six-degree-of-freedom supporting rod revolute pair P1.

In this embodiment, referring to fig. 3, the second six-degree-of-freedom support rod of the parallel external fixator includes a second six-degree-of-freedom support rod hooker U2, a second six-degree-of-freedom support rod sliding pair P2, a second six-degree-of-freedom support rod revolute pair R2, and a second six-degree-of-freedom support rod ball pair S2, in the second six-degree-of-freedom support rod hooker U2, the fastening screw 31 and the second six-degree-of-freedom support rod hooker U-shaped frame 32 are connected to a second six-degree-of-freedom support rod a 34 and a second six-degree-of-freedom support rod B35 via a second six-degree-of-freedom support rod hooker cross 33, in the second six-degree-of-freedom support rod P2, a second six-degree-of-freedom support rod sliding pair positioning nut 36, a second six-degree-of-freedom support rod sliding groove 37, a second six-degree-of freedom support rod sliding pair adjusting nut 38, a second six-degree-of freedom support rod sliding pair 39, The second six-degree-of-freedom support rod sliding pair U-shaped frame 43 is connected, adjusted and extended, in the second six-degree-of-freedom support rod sliding pair R2, the second six-degree-of-freedom support rod a 34 and the second six-degree-of-freedom support rod B35 are connected to the second six-degree-of-freedom support rod sliding support rod C40 through the second six-degree-of-freedom support rod sliding pair rotating shaft 41, in the second six-degree-of-freedom support rod ball pair S2, the second six-degree-of-freedom support rod sliding support rod C40 is connected to the second six-degree-of-freedom support rod ball pair U-shaped block 45 through the second six-degree-of-freedom support rod ball pair cross shaft 44, the second six-degree-of-freedom support rod ball pair U-shaped block 45 is connected to the second six-degree-of-freedom support rod ball pair rotating shaft 46, and the second six-degree-of freedom support rod sliding pair P2 is connected to the second six-degree-of freedom support rod sliding pair rotating shaft R2 through the sliding pair rotating shaft 42, the rotation angle of the second six-degree-of-freedom supporting rod revolute pair R2 is adjusted by adjusting the rod length of the second six-degree-of-freedom supporting rod revolute pair threaded rod 39 in the second six-degree-of-freedom supporting rod revolute pair P2.

In this embodiment, referring to fig. 4, the third six-degree-of-freedom support rod of the parallel external fixator includes a third six-degree-of-freedom support rod hooker U3, a third six-degree-of-freedom support rod sliding pair P3, a third six-degree-of-freedom support rod revolute pair R3, and a third six-degree-of-freedom support rod ball pair S3, in the third six-degree-of-freedom support rod hooker U3, a fastening screw 47 and a third six-degree-of-freedom support rod hooker U-shaped frame 48 are connected to a third six-degree-of-freedom support rod a 50 and a third six-degree-of-freedom support rod B51 through a third six-degree-of-freedom support rod hooker cross 49, in the third six-degree-of-freedom support rod P3, a third six-degree-of-freedom support rod sliding pair positioning nut 52, a third six-degree-of-freedom support rod sliding groove 53, a third six-degree-of freedom support rod sliding pair adjusting nut 54, a third six-degree-of freedom support rod sliding pair 55, The third six-degree-of-freedom support rod sliding pair U-shaped frame 59 is connected, adjusted and stretched, in the third six-degree-of-freedom support rod sliding pair R2, the third six-degree-of-freedom support rod A50 and the third six-degree-of-freedom support rod B51 are connected with the third six-degree-of-freedom support rod sliding support rod C56 through the third six-degree-of-freedom support rod sliding pair rotating shaft 57, in the third six-degree-of-freedom support rod ball pair S3, the third six-degree-of-freedom support rod sliding support rod C56 is connected with the third six-degree-of-freedom support rod ball pair U-shaped block 61 through the third six-degree-of-freedom support rod ball pair cross shaft 60, the third six-degree-of freedom support rod ball pair U-shaped block 61 is connected with the third six-degree-of-freedom support rod ball pair rotating shaft 62, the third six-degree-of freedom support rod sliding pair P3 is connected with the third six-degree-of freedom support rod sliding pair R3 through the sliding pair rotating shaft 58, the rotation angle of the third six-degree-of-freedom supporting rod revolute pair R3 is adjusted by adjusting the rod length of the third six-degree-of-freedom supporting rod revolute pair threaded rod 55 in the third six-degree-of-freedom supporting rod revolute pair P3.

In this embodiment, referring to fig. 4, the fourth six-degree-of-freedom support rod of the parallel external fixator includes a fourth six-degree-of-freedom support rod hooker U4, a fourth six-degree-of-freedom support rod sliding pair P4, a fourth six-degree-of-freedom support rod revolute pair R4, and a fourth six-degree-of-freedom support rod ball pair S4, in the fourth six-degree-of-freedom support rod hooker U1, a fastening screw 63 and a fourth six-degree-of-freedom support rod hooker U-shaped frame 64 are connected to a fourth six-degree-of-freedom support rod a 66 and a fourth six-degree-of-freedom support rod B67 through a fourth six-degree-of-freedom support rod hooker cross shaft 65, in the fourth six-degree-of-freedom support rod P4, a fourth six-degree-of-freedom support rod sliding pair positioning nut 68, a fourth six-degree-of freedom support rod sliding groove 69, a fourth six-degree-of freedom support rod sliding pair adjusting nut 70, a fourth six-degree-of freedom support rod sliding pair 71, The fourth six-degree-of-freedom support rod sliding pair U-shaped frame 75 is connected, adjusted and stretched, in the fourth six-degree-of-freedom support rod sliding pair R4, the fourth six-degree-of-freedom support rod A66 and the fourth six-degree-of-freedom support rod B67 are connected with a fourth six-degree-of-freedom support rod sliding support rod C72 through a fourth six-degree-of-freedom support rod sliding pair rotating shaft 73, in the fourth six-degree-of-freedom support rod ball pair S1, the fourth six-degree-of-freedom support rod sliding support rod C72 is connected with a fourth six-degree-of-freedom support rod ball pair U-shaped block 77 through a fourth six-degree-of-freedom support rod ball pair cross shaft 76, the fourth six-degree-of-freedom support rod ball pair U-shaped block 77 is connected with a fourth six-degree-of-freedom support rod ball pair rotating shaft 78, and the fourth six-degree-of freedom support rod sliding pair P4 is connected with a fourth six-degree-of-freedom support rod sliding pair R4 through a sliding pair rotating shaft 74, the rotation angle of the fourth six-degree-of-freedom supporting rod revolute pair R4 is adjusted by adjusting the rod length of the fourth six-degree-of-freedom supporting rod revolute pair threaded rod 71 in the fourth six-degree-of-freedom supporting rod revolute pair P4.

In this embodiment, referring to fig. 5, the five-degree-of-freedom support rod of the parallel external fixator includes a five-degree-of-freedom support rod ball pair S5, a five-degree-of-freedom support rod sliding pair P5, a five-degree-of-freedom support rod sliding pair R5-1, and a five-degree-of-freedom support rod sliding pair R5-2, in the five-degree-of-freedom support rod hooke S5, a five-degree-of-freedom support rod rotating shaft 79 and a five-degree-of-freedom support rod ball pair U-shaped frame 80 are connected to a five-degree-of-freedom support rod a 82 and a five-degree-of-freedom support rod B83 via a five-degree-of-freedom support rod ball pair cross shaft 81, in the five-degree-of-freedom support rod P5, a five-degree-of-freedom support rod sliding pair rotating shaft 84, a five-degree-of-freedom support rod sliding pair positioning nut 85, a five-degree-of-freedom support rod sliding groove 86, a five-degree-of-freedom support rod sliding pair adjusting nut 87, a five-degree-of-freedom support rod sliding pair threaded rod 88, and a five-degree-freedom support rod sliding pair U-shaped frame 91 are connected and adjusted to extend and extend, in the five-degree-of-freedom support rod revolute pair R5-1, the five-degree-of-freedom support rod a 82 and the five-degree-of-freedom support rod B83 are connected to the five-degree-of-freedom support rod revolute support rod C90 through a five-degree-of-freedom support rod revolute pair rotating shaft 89, the five-degree-of-freedom support rod revolute support rod C90 in the five-degree-of-freedom support rod revolute pair R5-2 is connected to the five-degree-of-freedom support rod revolute pair U-shaped block 93 through a five-degree-of-freedom support rod revolute pair rotating shaft 92, and the five-degree-of-freedom support rod revolute pair U-shaped block 93 is fixed through a 94 fastening screw.

In this embodiment, referring to fig. 6, the configuration diagram of the parallel external fixator for correcting the distal tibial posterior arcade-valgus deformity includes a first six-degree-of-freedom support rod moving auxiliary threaded rod 23, a second six-degree-of-freedom support rod moving auxiliary threaded rod 39, a third six-degree-of-freedom support rod moving auxiliary threaded rod 55, a fourth six-degree-of-freedom support rod moving auxiliary threaded rod 71, and a five-degree-of-freedom support rod moving auxiliary threaded rod 88, and the reference platform 1 and the traction platform 2 are connected to the human skeleton through the spicules 3 and 9, respectively.

In this embodiment, referring to fig. 7, the configuration diagram of the parallel external fixator used for the horseshoe-varus deformity before ankle fusion includes a first six-degree-of-freedom support rod a 18, a second six-degree-of-freedom support rod a 34, a third six-degree-of-freedom support rod a 50, and a fourth six-degree-of-freedom support rod a 66, and the reference platform 1 and the traction platform 2 are connected to the human skeleton through the spicules 3 and 9, respectively.

The invention provides a parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom, which has the following beneficial effects:

1) the parallel external fixation designs a novel parallel configuration, and is applicable to the large-amplitude deformity of the ankle and the tibia with five degrees of freedom for correcting the requirements.

2) The number and the type of the degrees of freedom of the external fixator are just the same as those of the degrees of freedom required by correction, so that the redundancy of the degrees of freedom does not exist, and the correction cost can be reduced.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.