Master-slave same-structure teleoperation fracture reduction mechanism

A master-slave same-structure teleoperation fracture reduction mechanism, comprising:

• a frame assembly, two parallel platform assemblies with similar structure of six-degree-of-freedom, a top platform connecting plate (9), an operating handle assembly, two fixing assemblies for connecting broken bones, a controller (15), six movement assemblies and 24 hydraulic pipes (26);
• wherein the operating handle assembly is located in a middle of an upper platform (5) of an operation handle parallel platform assembly;
• two fixing assemblies are located on a top of a fixing assembly parallel platform assembly;
• the two parallel platform assemblies are disposed on a top plane of the frame assembly;
• the controller (15) and the six movement assemblies are disposed on a middle plane of the frame assembly;
• the top platform connecting plate (9) is fixedly connected to the fixing assembly parallel platform assembly;
• a first end of each of the hydraulic pipes (26) is in communication with one of motion hydraulic cylinders (7a) in the movement assembly and a second end of each of the hydraulic pipes is in communication with one of platform hydraulic cylinders (7b);
• wherein the frame assembly comprises a bottom support frame (1), a U-shape frame (2), a support frame connecting plate (3) and 4 universal wheels (4), wherein the bottom support frame (1) and the U-shape frame (2) are connected by a standard bolt;
• the U-shape frame (2) and the support frame connecting plate (3) are connected by a standard bolt;
• the bottom support frame (1) and the 4 universal wheels are connected by standard bolts respectively;
• the support frame (1) is a cubical frame structure assembled by several rod structures, which is for supporting a main body of the master-slave same-structure teleoperation fracture reduction mechanism and placing components;
• the U-shape frame (2) is a U-shape structure which is for connecting the bottom support frame (1) and the support frame connecting plate (3);
• the support frame connecting plate (3) is a rectangle plate which is for connecting the fixing assemblies;
• the universal wheels (4) are standard castors which are for supporting and moving the master-slave same-structure teleoperation fracture reduction mechanism;
• wherein each of the parallel platform assemblies comprises the upper platform (5), twelve universal joints (6), six platform hydraulic cylinders (7b) and a lower platform (8), wherein the upper platform (5) and the lower platform (8) are fixedly connected with a first end of each of the universal joints;
• both ends of the platform hydraulic cylinders (7b) are fixedly connected with a second end of each of the universal joints respectively;
• the upper platform (5) is a round plate and the lower platform (8) is a ring-shaped plate which is for supporting each of the parallel platforms;
• the universal joints (6) are standard universal joints which are for connecting platform hydraulic cylinders (7b), the upper platform (5) and the lower platform (8);
• each of the platform hydraulic cylinders (7b) is a standard hydraulic cylinder which is for support components of each of the parallel platform;
• wherein a bottom end of the top platform connecting plate (9) is fixedly connected with the upper platform (5) of the fixing assembly parallel platform and a top end of the top platform connecting plate (9) is fixedly connected with one of the fixing assemblies, wherein the top platform connecting plate (9) is a plate with a boss, which is for connecting one of the parallel platform assemblies and one of the fixing assemblies;
• wherein the operating handle assembly comprises an operating handle (10) and an operating button (11), wherein the operating handle (10) is connected with the upper platform (5) of the operating handle parallel platform assembly and the operating button (11) is fixedly connected with the operating handle (10);
• the operating handle (10) is a column with a round plate on one end, which is for manually operating the parallel platform assemblies, wherein the operating button (11) is a standard button which is for on/off control the controller (15);
• wherein each of the fixing assemblies comprises a fixing baseplate (12), two baseplate connecting blocks (13) and two curved poles (14), wherein the fixing baseplate (12) is connected with the support frame connecting plate (3) and the top platform connecting plate (9) respectively;
• the baseplate connecting blocks (13) are embedded in grooves on the fixing baseplate (12) and fixedly connected with the fixing baseplate (12) with standard bolts;
• the curved poles (14) are fixedly connected with the baseplate connecting blocks, wherein the fixing baseplate (12) is a plate with the grooves on both sides, which is for fixing the baseplate connecting blocks (13);
• the baseplate connecting blocks (13) is a cubic structure with threaded holes which is for connecting the fixing baseplate (12) and the curved poles (14), wherein each of the curved poles (14) is a pole structure with a curve on one end, which is for connecting a fixing nail fixed on broken bones;
• wherein the controller (15) is fixedly connected with the bottom support frame (1), wherein the controller (15) is a standard controller which is for sampling signals from encoders (18), limit switches (19) and hydraulic sensors (25);
• and controlling the motion of a DC (direct current) motors (17);
• wherein each of the movement assembly comprising a fixing platform (16), the DC motor (17), one of the encoders (18), two limit switches (19), a guide rail (20), a sliding block (21), a screw rod (22), a sliding block connector (23), two motion hydraulic cylinders (7a), a hydraulic cylinder connector (24), four hydraulic sensors (25), wherein the fixing platform (16) is fixedly connected with the bottom support frame (1);
• the guide rail (20) is fixedly connected with the fixing platform (16);
• two limit switches (19) are assembled on both ends of the fixing platform (16);
• the screw rod (22) is connected with both ends of the fixing platform (16);
• the sliding block (21) is connected with the screw rod (22) and the guide rail (20), wherein the sliding block connector (23) is fixedly connected with the sliding block (21) and a piston rod of the motion hydraulic cylinders (7a);
• the hydraulic cylinder connector (24) is fixedly connected with the motion hydraulic cylinders (7a) and fixing platform (16);
• a bottom end of each of the hydraulic sensors (25) is fixedly connected with the motion hydraulic cylinder (7a) and a top end of each of the hydraulic sensors (25) is fixedly connected with the platform hydraulic cylinder (7b) through one of the hydraulic pipes (26);
• the DC motor (17) is fixedly connected with the fixing platform (16) and the screw rod (22);
• the encoder (18) is fixedly connected with the DC motor (17);
• the fixing platform (16) is a U-shaped structure with two mounting holes which is for fixing the movement assemblies and components;
• wherein the DC motor (17) is a standard DC motor which is for driving the screw rod (22);
• the encoder (18) is a standard encoder which is for sampling velocity and acceleration information of the DC motor (17);
• the limit switches (19) are standard limit switches which are for checking a position of the sliding block;
• the guiding rail (20) is a standard guiding rail which guides the sliding block (21), wherein the sliding block (21) is a threaded cubic sliding block which is for transforming a rotary motion of the screw rod (22) into a translational motion;
• the screw rod (22) is a standard screw rod which is for connecting the DC motor (17) and the sliding block (21);
• the sliding block connector (23) is an L-shaped structure with two through holes, which is for connecting the sliding block (21) and the two motion hydraulic cylinders (7a);
• the hydraulic cylinder connector (24) is an L-shaped structure with two through holes, which is for connecting the fixing platform (16) and the two motion hydraulic cylinder (7a);
• the hydraulic sensors (25) are standard hydraulic sensors which are for checking a liquid pressure in the hydraulic pipes (26);
• wherein twelve of the 24 hydraulic pipes (26) are connected with the movement assemblies and the operating handle parallel platform assembly and the rest twelve hydraulic pipes are connected with the movement assemblies and the fixing assembly parallel platform assembly which is connected with the top platform connecting plate (9) and the fixing assemblies, wherein each of the hydraulic pipes are standard hydraulic pipe for power transfer for the parallel platform assemblies and the movement assemblies.