CN1561923A - Robot assisted bone setting operation medical system with lock marrow internal nail - Google Patents

Abstract

A robot-assisted locking intramedullary nail orthopedic surgery medical system relates to a robot-assisted medical system for locking intramedullary nail orthopedic surgery. In the present invention, the medical traction and reset parallel robot 1 of the hand end (80) is arranged on the end side of the multifunctional automatic operating bed (15), the bone setting adjustment mechanism (2) is arranged on the medical traction and reset parallel robot (1), and the bone setting fixing mechanism (3) be arranged on one side on the multifunctional automatic operating bed (15), the high-precision automatic C-arm X-ray machine (4) is arranged on the side of the multifunctional automatic operating bed (15), and the navigation robot (5) Located on the other side of the multifunctional automatic operating bed (15), the bidirectional port of the robot controller (13″) is connected with the bidirectional port of the master hand control station (17), and the slave hand control station (16) is connected with the master hand control station. The stations (17) are connected by a network (90). The present invention has strong versatility, good operation effect, reduces operation cost, relieves patient pain, reduces radiation damage of doctors, and realizes simulation teaching training and remote treatment of bone setting surgery. advantage.

Description

Robot-assisted interlocking intramedullary nail orthopedic surgery medical system

Technical field:

The invention relates to a robot-assisted medical system for bone-setting surgery with a locking intramedullary nail.

Background technique:

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.

Invention content:

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 reset parallel 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 a navigation robot 5. CCD camera 6, high-speed image acquisition card 7, image processing unit 8, mechanism control unit 9, position sensor 10, force sensor 11, position/force signal acquisition card 12, robot controller 13, servo, force control unit 14, Multifunctional automatic operating bed 15, slave hand control station 16, position sensor 10', force sensor 11', position/force signal acquisition card 12', robot controller 13', servo, force control unit 14'; master hand terminal 70 consists of a main hand control station 17, a virtual surgery simulation system 18, a monitor 19, a remote operation parallel main hand 20, a force sensor 11", a position/force signal acquisition card 12", a robot controller 13", a servo, and a force control unit 14″, a position sensor 10″, and an image processing unit 8′; the medical traction reset parallel robot 1 from the hand terminal 80 is set on the end side of the multifunctional automatic operating bed 15, and the bone setting adjustment mechanism 2 is set on the medical traction reset parallel robot 1 Above, the bone-setting fixation mechanism 3 is set on one side of the multifunctional automatic operating bed 15, the high-precision automatic C-arm X-ray machine 4 is set on the side of the multifunctional automatic operating bed 15, and the navigation robot 5 is set on the multifunctional automatic operating bed 15. On the other side of the operating bed 15, the output end of the high-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 end of the high-speed image acquisition card 7 b is connected, the output end of the high-speed image acquisition card 7 is connected with the input end of the image processing unit 8, the output end of the image processing unit 8 is connected with the input end z of the slave control station 16, and the bidirectional port of the mechanism control unit 9 C is connected with the bidirectional port of the CCD camera 6, the bidirectional port d of the mechanism control unit 9 is connected with the bidirectional port of the high-precision full-automatic C-arm X-ray machine 4, and the bidirectional port y of the mechanism control unit 9 is connected with the slave control station The bidirectional port k of 16 is connected, and the output end of position sensor 10 is connected with the input end e of position/force signal acquisition card 12, and the output end f of position sensor 10 is connected with the input end of navigation robot 5, and the input end of navigation robot 5 The output end is connected with the input end of force sensor 11, and the output end of force sensor 11 is connected with the input end of position/force signal acquisition card 12, and the output end of position/force signal acquisition card 12 is connected with the input end of robot controller 13 h is connected, the output end of the robot controller 13 is connected with the input end of the servo and force control unit 14, the output end of the servo and force control unit 14 is connected with the input end g of the navigation robot 5, the two-way of the robot controller 13 Port j is connected with the bidirectional port m of the slave hand control station 16, the output terminal on the medical traction reset parallel robot 1 is connected with the input terminal of the position sensor 10', and the output terminal of the position sensor 10' is connected with the position/force signal acquisition The input end of the card 12' is connected, the output end of the position/force signal acquisition card 12' is connected with the input end of the robot controller 13', and the output end of the robot controller 13' is connected with the input of the servo and force control unit 14' The output end of the servo and force control unit 14' is connected with the input end of the medical traction reset parallel robot 1, the output end o of the medical traction reset parallel robot 1 is connected with the input end of the force sensor 11', and the force sensor The output terminal of 11' is connected with the input terminal p of the position/force signal acquisition card 12', and the bidirectional port q of the robot controller 13 is connected with the bidirectional port n of the slave control station 16; the remote operation of the master hand terminal 70 is connected in parallel The output end of the main hand 20 is connected with the input end of the force sensor 11 ", the output end of the force sensor 11 " is connected with the input end S of the position/force signal acquisition card 12 ", and the output end r of the main hand 20 is connected in parallel by remote operation Be connected with the input end of position sensor 10 ", the output end of position sensor 10 " is connected with the input end of position/force signal acquisition card 12 ", the output end of position/force signal acquisition card 12 " is connected with robot controller 13 " The input end of the robot controller 13 " is connected with the input end of the servo and force control unit 14 ", and 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 , the bidirectional port of the 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 of the main hand control station 17 t is connected to the input end of the image processing unit 8', and the output end of the image processing unit 8' and the output end of the virtual surgery simulation system 18 are commonly connected to the monitor 19; between the slave hand control station 16 and the main hand control station 17 They are connected 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.

Description of drawings:

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 reset parallel robot 1, a high-precision automatic C-arm X-ray machine 4, a multifunctional automatic operating bed 15 and a navigation robot 5, and Fig. 3 is a medical traction and reset parallel robot 1. Schematic diagram of the structure of the traction reset parallel 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 multifunctional automatic operating bed 15 .

Detailed ways:

(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 traction parallel robot 1, a bone setting adjustment mechanism 2, a bone setting reset mechanism 3, and a high-precision automatic C Arm X-ray machine 4, navigation robot 5, CCD camera 6, high-speed image acquisition card 7, image processing unit 8, mechanism control unit 9, position sensor 10, force sensor 11, position/force signal acquisition card 12, robot controller 13. Servo, force control unit 14, multifunctional automatic operating bed 15, slave hand control station 16, position sensor 10', force sensor 11', position/force signal acquisition card 12', robot controller 13', servo, force The main hand terminal 70 is composed of the main hand control station 17, virtual surgery simulation system 18, monitor 19, remote operation parallel main hand 20, force sensor 11", position/force signal acquisition card 12", robot control 13″, servo, force control unit 14″, position sensor 10″, and image processing unit 8′; the medical traction reset parallel robot 1 from the hand end 80 is set on the end side of the multifunctional automatic operating bed 15, and the bone setting adjustment mechanism 2 is set on the medical traction and reset parallel robot 1, the bone-setting fixation mechanism 3 is set on one side of the multifunctional automatic operating bed 15, and the high-precision automatic C-arm X-ray machine 4 is set on the side of the multifunctional automatic operating bed 15 , the navigation robot 5 is located on the other side of the multifunctional automatic operating bed 15, the output end of the high-precision automatic C-arm X-ray machine 4 is connected with the input end a of the high-speed image acquisition card 7, and the output end of the CCD camera 6 Be connected with the input end b of the high-speed image acquisition card 7, the output end of the high-speed image acquisition card 7 is connected with the input end of the image processing unit 8, and the output end of the image processing unit 8 is connected with the input end z of the slave control station 16 Connection, the bidirectional port C of the mechanism control unit 9 is connected with the bidirectional port of the CCD camera 6, the bidirectional port d of the mechanism control unit 9 is connected with the bidirectional port of the high-precision full-automatic C-arm X-ray machine 4, and the mechanism control unit 9 The bidirectional port y of the hand control station 16 is connected with the bidirectional port k of the hand control station 16, the output terminal of the position sensor 10 is connected with the input terminal e of the position/force signal acquisition card 12, and the output terminal f of the position sensor 10 is connected with the navigation robot 5. The input end is connected, the output end of navigation robot 5 is connected with the input end of force sensor 11, the output end of force sensor 11 is connected with the input end of position/force signal acquisition card 12, the output of position/force signal acquisition card 12 end is connected with the input end h of robot controller 13, the output end of robot controller 13 is connected with the input end of servo, force control unit 14, the output end of servo, force control unit 14 is connected with the input end g of navigation robot 5 The bidirectional port j of the 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 connected robot 1 is connected with the input terminal of the position sensor 10', and the position sensor 10' The output end of the position/force signal acquisition card 12' is connected with the input end of the position/force signal acquisition card 12', the output end of the position/force signal acquisition card 12' is connected with the input end of the robot controller 13', and the output end of the robot controller 13' is connected with the input end of the robot controller 13' The input terminals of the servo and force control unit 14' are connected, the output terminals of the servo and force control unit 14' are 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 force sensor 11 ' is connected to the input terminal, the output terminal of the force sensor 11' is connected to the input terminal p of the position/force signal acquisition card 12', and the bidirectional port q of the robot controller 13 is connected to the bidirectional port n of the slave control station 16 The output terminal of the remote operation of the main hand terminal 70 is connected in parallel with the input terminal of the force sensor 11 ", and the output terminal of the force sensor 11 " is connected with the input terminal S of the position/force signal acquisition card 12 ". The output r of the operation parallel main hand 20 is connected with the input end of the position sensor 10 ", and the output end of the position sensor 10 " is connected with the input end of the position/force signal acquisition card 12 ", and the position/force signal acquisition card 12 " The output end of robot controller 13 " is connected with the input end of robot controller 13 ", and the output end of robot controller 13 " is connected with the input end of servo, force control unit 14 ", and the output end of servo, force control unit 14 " is connected with teleoperation The input end of parallel main hand 20 is connected, the bidirectional port of robot controller 13 " is connected with the bidirectional port of main hand control station 17, and the output end w of main hand control station 17 is connected with the input end of virtual surgery simulation system 18 , the output terminal t of the master hand control station 17 is connected to the input terminal of the image processing unit 8', and the output terminal of the image processing unit 8' is connected to the monitor 19 together with the output terminal of the virtual surgery simulation system 18; the slave hand control station 16 is connected with the main hand control station 17 by network 90. (see Fig. 3) medical traction reset parallel 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, horizontal rotation 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 The guide rail 44, the base 45, and the x-direction driving mechanism 46 are composed. The linear guide rail 44 is arranged on the base 45, the y-direction transmission mechanism 31 is arranged on the linear guide rail 44, the y-direction drive mechanism 30 is fixed on one side of the y-direction transmission mechanism 31, and the x-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 and translation mechanism 43 is fixed on the y-direction on one side of the z-direction transmission mechanism 33. On the top of the transmission mechanism 31, a shield 32 is arranged on the outside of the z-direction transmission mechanism 33 and the z-direction drive mechanism 34, 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 horizontal rotation drive mechanism. 35, the C-shaped arm support frame 37 is fixed on one side of the horizontal rotation drive mechanism 35, the C-shaped arm drive mechanism 41 is fixed in the C-shaped arm support frame 37, and the C-shaped arm 38 is located on the C-shaped arm support frame 37 And on the outside of the C-shaped arm driving mechanism 41, the C-shaped guide rail 39 is fixed on the C-shaped arm 38, 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 . (See Fig. 5) The multifunctional automatic operating bed 15 is composed of a head and back board 47, a traction retaining post 48, a turning mechanism 49, a thigh board 50, a calf board 51, a lower leg board turning mechanism 52, a bed surface turning mechanism 53, and a y-direction translation mechanism 54. The x-direction translation mechanism 55, the base 56, the motor 58, the bracket 59, and the z-direction translation mechanism 60 are composed of the x-direction translation mechanism 55 fixed on the upper side of the base 56, and the y-direction translation mechanism 54 fixed on the upper part of the x-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 a bracket 59, the bottom of the z-direction translation mechanism 60 is fixed with a motor 58, and the head backplane 47 is arranged on the bracket 59 The upper end of the thigh board 50 is connected with an end of the head and back board 47 by the turning mechanism 49 on one side, and 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 stop post 48 is fixed on On the upper plane of the head-back board 47 on one side of the thigh board 50 , the bed surface turning mechanism 53 is fixed on the support 59 on one side of the thigh board 50 and connected with the bottom of the head-back board 47 .

Surgical procedure:

1. Fix the patient on the multifunctional automatic operating bed 15 through auxiliary facilities such as the bone setting adjustment mechanism 2 and the bone setting fixing mechanism 3 .

2. Adjust the relative positional relationship between the multifunctional automatic operating bed 15 and the medical traction and reset parallel robot 1, and pre-tighten it.

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 To the 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. According to the digital information and X-ray images, the doctor plans the operation and determines the operation plan.

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. According to the operation plan, the doctor controls the medical traction reset parallel robot 1 through the remote operation parallel main hand 20 on the main hand end, and the medical traction reset parallel robot 1 is driven by the robot controller 13 and the servo and force control unit 14 to complete traction, Repositioning and other bone-setting actions. The position/force signal acquisition card 12 collects the position sensor 10' and the force sensor 11' information on the medical traction reset parallel robot 1, feeds back to the main hand control station 17, and then connects the position sensor 10 ", The force sensor 11", the position/force signal acquisition card 12", the robot controller 13", and the servo and force control unit 14" act on the remote operation parallel main hand 20, so that the doctor has a sense of force, just like performing an operation with his own hands ;

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. After the traction and reduction effects meet the requirements, the doctor manually inserts the interlocking intramedullary nail into the bone marrow cavity.

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. Coordinate transformation of image space, robot space, and operation space.

11. According to the obtained robot position and posture information, the navigation robot 5 is driven to move to Corresponding positions, the end effector of the navigation robot 5 is aimed at each keyhole from space (position and attitude).

12. The doctor completes the drilling under the robot navigation (or directly drills the hole by the robot).

13. The doctor inserts locking nails, sutures, and performs postoperative treatment.

14. The operation is completed.

15. The whole operation is carried out under the monitoring of the CCD camera 6 .

Claims (4)

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), image processing unit (8) ), mechanism control unit (9), position sensor (10), force sensor (11), position/force signal acquisition card (12), robot controller (13), servo, force control unit (14), multifunctional automatic Operating table (15), slave hand control station (16), position sensor (10'), force sensor (11'), position/force signal acquisition card (12'), robot controller (13'), servo, force control unit (14'); it is characterized in that the main hand terminal (70) consists of a main hand control station (17), a virtual surgery simulation system (18), a monitor (19), a teleoperation parallel main hand (20), a force Sensor (11″), position/force signal acquisition card (12″), robot controller (13″), servo, force control unit (14″), position sensor (10″), image processing unit (8′) ; The medical traction reset parallel robot (1) from the hand end (80) is arranged on the end 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 is fixed The mechanism (3) is arranged on one side of the multifunctional automatic operating bed (15), the high-precision automatic C-arm X-ray machine (4) is arranged on the side of the multifunctional automatic operating bed (15), and the navigation robot (5 ) is located on the other side of the multifunctional automatic operating bed (15), the output end of the high-precision full-automatic C-arm X-ray machine (4) is connected with the input end (a) of the high-speed image acquisition card (7), and the CCD The output end of video camera (6) is connected with the input end (b) of high-speed image acquisition card (7), and the output end of high-speed image acquisition card (7) is connected with the input end of image processing unit (8), and image processing unit The output terminal of (8) is connected with the input terminal (z) from 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 unit The two-way port (d) of (9) is connected with the two-way port of the high-precision full-automatic C-shaped arm X-ray machine (4), and the two-way port (y) of the mechanism control unit (9) is connected with the hand control station (16) The two-way port (k) is connected, the output end of the position sensor (10) is connected with the input end (e) of the position/force signal acquisition card (12), the output end (f) of the position sensor (10) is connected with the navigation robot ( 5), the output end of the navigation robot (5) is connected with the input end of the force sensor (11), and the output end of the force sensor (11) is connected with the input end of the position/force signal acquisition card (12). Connection, the output end of the position/force signal acquisition card (12) is connected with the input end (h) of the robot controller (13), the output end of the robot controller (13) is connected with the input of the servo and force control unit (14) The output terminal of the servo and force control unit (14) is connected with the input terminal (g) of the navigation robot (5), and the bidirectional port (j) of the robot controller (13) is connected with the slave control station (16) The two-way port (m) of the medical traction reset and connected robot (1) is connected with the input end of the position sensor (10'), and the output end of the position sensor (10') is connected with the position/force signal acquisition The input end of the card (12') is connected, the output end of the position/force signal acquisition card (12') is connected with the input end of the robot controller (13'), and the output end of the robot controller (13') is connected with the servo , the input end of the force control unit (14') is connected, the output end of the servo and force control unit (14') is connected with the input end of the medical traction reset parallel robot (1), and the medical traction reset parallel robot (1) The output terminal (o) is connected with the input terminal of the force sensor (11'), the output terminal of the force sensor (11') is connected with the input terminal (p) of the position/force signal acquisition card (12'), and the robot controller The two-way port (q) of (13) is connected with the two-way port (n) from hand control station (16); ), the output end of the force sensor (11″) is connected with the input end (S) of the position/force signal acquisition card (12″), and the output end  of the main hand (20) is connected in parallel with the position The input end of the sensor (10″) is connected, the output end of the position sensor (10″) is connected with the input end of the position/force signal acquisition card (12″), and the output end of the position/force signal acquisition card (12″) It is connected with the input end of the robot controller (13 "), the output end of the robot controller (13 ") is connected with the input end of the servo and force control unit (14 "), the servo and force control unit (14 ") The output end is connected with the input end of the remote operation parallel main hand (20), the bidirectional port of the robot controller (13 ") is connected with the bidirectional port of the main hand control station (17), and the output of the main hand control station (17) The terminal (w) is connected with the input terminal of the virtual surgery simulation system (18), the output terminal (t) of the main hand control station (17) is connected with the input terminal of the image processing unit (8′), and the image processing unit (8 ') and the output of the virtual surgery simulation system (18) are connected to the monitor (19); the slave hand control station (16) is connected with the main hand control station (17) through a network (90). 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. 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. 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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