Tianjin University

Beijing Naton Medical Technology Holdings Co., Ltd.

Yimin Song

Tao Sun

Sida Liu

Panfeng Wang

Wei Yan

Tian Huang

Haitao Liu

Jiangping Mei

Limin Zhang

Zhiyuan He

Binbin Lian

Xueman Zhao

A wearable robot for integrated fracture reduction and rehabilitation, comprising a proximal ring, a distal ring, six driving branch chains, motor driving device and manual driving device; the six driving branch chains are divided into two groups, each of them comprises a platform connecting sleeve, a sliding bearing, a bearing locking nut, a proximal Hooke hinge, an intermediate prismatic pair, a sleeve, a force sensor, and a distal Hooke hinge; one end of the driving branch chain is connected with the proximal ring by a connecting sleeve fastener, and the other end is connected with the distal ring by nut, each driving branch chain is connected with the driving devices via D-shaped shaft sleeve. The wearable robot has electric-manual dual model driving, and the branch chain can be quickly replaced during and after the operation.

Wearable robot for integrated fracture reduction and rehabilitation

The present invention discloses an automatic recognition method for spatial position and pose of parallel external fixator, including the following steps of: installing three markers on each of the two fixation rings of the parallel external fixator; obtaining 3D images of six marker balls after scanning and reconstruction by a common 3D clinical imaging system; recognizing the sphere center coordinates of the six marker balls by sphere fitting algorithm; according to the mounting configuration of the markers on the two fixation rings, establishing coordinate systems of two fixation rings and determining the spatial position and pose of the external fixator; in addition, by obtaining the 3D images of the fracture bone segments with the 3D clinical imaging system and simulating the movement of the fracture deformity correction, the adjustment schedule of the external fixator struts can be achieved.

Automatic recognition method for spatial position and pose of parallel external fixator for fracture reduction

A freely-connectable three-strut parallel orthopedic external fixator including two fixation rings and three struts, connecting holes are circumferentially and uniformly distributed on the ring surfaces of each fixation ring, each strut is provided with two driving translational pairs, a revolute pair and a spherical pair. Two fixation rings are respectively fixedly connected with the bone segments of the fracture site by using medical metal bone pins; adjusting the driving translational pairs of the six struts can achieve six DoF relative movement of the two fixation rings, thereby achieving fracture reduction. The external fixator of the present invention realizes free connection between the two fixation rings, which facilitates fixator installment; number of struts is less than the existing external fixators.

Freely-connectable three-strut parallel orthopedic external fixator

A fracture reduction method and a parallel external fixator for fracture reduction for realizing the method, the fracture reduction method being used for existing six-chain ring-shaped parallel external fixators in minimally invasive fracture reduction or osteotomy of limbs. The parallel external fixator comprises two fixation rings, six struts and six markers, the fixation rings are arranged with a plurality of connecting holes, the struts are arranged with a spherical hinge, a driving joint (), a quick-mounting component and a universal hinge, the markers comprise marker balls and a pin shaft. The parallel external fixator can improve the treatment accuracy, reliability and operation convenience.

Fracture reduction method and parallel external fixator for fracture reduction

A parallel mechanism with three-dimensional translation and one-dimensional rotation include a fixing rack, a mobile platform and four chains of the same structure which are symmetrically set between the fixing rack and the mobile platform. Each chain has a near rack rod and two parallel far rack rods. The mobile platform includes a main platform and an assistant platform connected by a revolute joint and perpendicular to each other. Each end of the main platform and the assistant platform is connected with a corresponding lower connecting shaft separately.

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Tianjin, China

Yimin Song