KR102750202B1 - Wireless fracture reduction robot device and its motion system - Google Patents

Abstract

The present invention can provide a wireless fracture reduction robot device and an operating system thereof, which includes a fracture reduction unit including a plurality of ring frames arranged to surround a fractured limb of a patient, and at least one strut provided between the plurality of ring frames to adjust a distance between the ring frames, a wireless drive pack connected to one of the plurality of ring frames and providing power to the strut to adjust the distance, a sensor unit that measures a position of the at least one strut, and a control unit that generates length information of the strut based on the position of the strut measured from the sensor unit.

Description

{Wireless fracture reduction robot device and its motion system}

The present invention relates to a wireless fracture reduction robot device and an operating system thereof, and more specifically, to a wireless fracture reduction robot device and an operating system thereof for confirming the operation of a fracture reduction robot in which wires that interfere with the operator's movement line during fracture surgery are removed, and controlling the same.

Minimally invasive fracture reduction surgery is a fracture reduction surgery that minimizes incisions on the patient. In this type of fracture reduction surgery, real-time X-ray equipment such as C-ARM is used to correct misaligned bones by putting them back in place, and the corrected bone fragments are fixed by inserting intramedullary metal nails in the corrected state.

During this type of fracture reduction surgery, real-time X-ray images are acquired with the patient's fractured area positioned between the C-ARM's X-ray source and 2D sensor, and the doctor performs the fracture reduction surgery while viewing these real-time X-ray images.

In particular, since the fractured part of the bone is located deep inside the skin, it is difficult to visually confirm the fracture status, reduction process, and occlusal status according to reduction, so it is common to perform fracture reduction surgery with the help of real-time X-ray imaging equipment such as C-ARM.

However, since X-ray imaging equipment such as C-ARM sometimes requires continuous X-ray irradiation to obtain real-time images, the radiation exposure to patients and medical staff tends to be higher than that of other X-ray equipment that obtains still images.

In particular, the risk of radiation exposure is a major problem for medical staff who perform repeated fracture reduction surgeries.

In addition, since various muscles are connected to bones, great force is required to restore a fractured bone, and therefore, it is common for several medical staff to cooperate with each other to perform the surgery.

There is a problem that a large number of medical staff are needed to perform fracture reduction surgery, which acts as a factor in increasing the cost of the surgery.

In addition, after correction of misaligned bones is performed by medical staff, it is not easy to accurately maintain the corrected state until the correction is fixed by methods such as inserting a metal nail into the intramedullary canal, and there is a constant possibility of inaccurate fracture reduction for these reasons.

As a prior art, there is Korean Patent Publication No. 10-1564717 entitled “Bone traction device and fracture reduction device including the same.”

In order to solve the above problems, the present invention aims to provide a wireless fracture reduction robot device and its operation system, which can solve radiation exposure problems and manpower problems and improve the accuracy of fracture reduction surgery by detecting the shape of a fracture reduction site by measuring the length of a strut that varies the position of a ring frame through which a patient's arm or leg passes, and wirelessly manipulating the shape of the fracture reduction site through a control unit.

According to an embodiment of the present invention for solving the above problem, a wireless fracture reduction robot device may include a fracture reduction unit including a plurality of ring frames arranged to surround a fractured part of a patient, and at least one strut provided between the plurality of ring frames to adjust a distance between the ring frames, a wireless drive pack connected to one of the plurality of ring frames to provide power to the strut to adjust the distance, a sensor unit that measures a position of the at least one strut, and a control unit that generates length information of the strut based on the position of the strut measured from the sensor unit.

In addition, the wireless drive pack may include a motor module that transmits power to the strut, and the sensor unit may include a rotation speed measuring sensor that measures the rotation speed of the motor module to measure the position of the strut.

Additionally, the strut can form a conductor through which current flows along its length.

At this time, the sensor unit may include a resistance measuring sensor that measures the position of the strut by measuring resistance through the size of the current from the conductor.

In addition, the sensor unit may include a winder for winding a wire connected to the strut, a mainspring for rotating the winder to unwind or wind the wire, and a wire sensor for measuring the length of the unwound wire according to the rotation of the winder to measure the position of the strut.

In addition, the strut can form a reflector whose size of the reflective surface changes as it moves along the longitudinal direction.

At this time, the sensor unit may include a light measuring sensor that irradiates light to the reflector, receives light reflected from the reflector, and measures the amount of reflected light to measure the position of the strut.

In addition, a wireless fracture reduction robot motion system according to an embodiment of the present invention may include a wireless fracture reduction robot device including a fracture reduction unit including a plurality of ring frames arranged to surround a fractured part of a patient, and at least one strut provided between the plurality of ring frames to adjust a distance between the ring frames, a sensor unit measuring a position of the at least one strut, and a control unit generating length information of the strut based on the position of the strut measured by the sensor unit, and a user terminal linked to the wireless fracture reduction robot device to receive the length information, receive operation information for adjusting the length of the strut from a user, and transmit the information to the wireless fracture reduction robot device.

The wireless fracture reduction robot device and its operating system according to the embodiment of the present invention as described above can accurately detect the shape of a fracture reduction portion without the user having to directly check it by measuring the length of a strut that varies the position of a ring frame through which a patient's arm or leg passes.

Accordingly, the patient's bone correction status can be accurately maintained and inaccurate fracture reduction can be prevented.

Additionally, the fracture reduction unit can be wirelessly manipulated into a desired shape by the user through the control unit.

FIG. 1 is a block diagram showing the configuration of a wireless fracture reduction robot operation system according to an embodiment of the present invention.
FIG. 2 is a perspective view illustrating a wireless fracture reduction robot device according to an embodiment of the present invention.
Figure 3 is an example diagram showing Figure 2 mounted on a human body.
Figure 4 is a control block diagram of Figure 2.
Figure 5 is a perspective view showing the motor module of the strut and wireless drive pack of Figure 2 connected.
Figure 6 is a front view of Figure 5.
FIG. 7 is an exemplary diagram showing a sensor section according to the first embodiment formed on a strut according to an embodiment of the present invention.
FIG. 8 is an exemplary diagram showing a sensor section according to a second embodiment formed on a strut according to an embodiment of the present invention.
FIG. 9 is an exemplary diagram showing a sensor section according to a third embodiment formed on a strut according to an embodiment of the present invention.

The present invention can be modified in various ways and can take various forms, and specific embodiments are described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, but should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" and the like are intended to specify the presence of a combination of features, numbers, steps, components, etc. described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, components, etc.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms defined in commonly used dictionaries, such as those defined in common dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and shall not be interpreted in an idealized or overly formal sense, unless expressly defined in this application.

Here, repetitive descriptions, well-known functions that may unnecessarily obscure the gist of the present invention, and detailed descriptions of configurations are omitted. The embodiments of the present invention are provided to more completely explain the present invention to those with average knowledge in the art.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 9.

FIG. 1 is a block diagram showing the configuration of a wireless fracture reduction robot operation system according to an embodiment of the present invention.

Referring to FIG. 1, a wireless fracture reduction robot operation system according to an embodiment of the present invention may include a wireless fracture reduction robot device (1) and a user terminal (2).

A wireless fracture reduction robot device (1) is a device for reducing a fracture of a patient's affected area, which comprises a fracture reduction unit (100) including a plurality of ring frames (110) arranged to surround a fractured affected area of a patient, at least one strut (120) arranged between the plurality of ring frames (110) to adjust a distance between the ring frames (110), and a control unit (400) that measures the length of one or more struts (120) to generate length information.

At this time, the ring frame (110) can be divided into a distal ring frame (111) and a proximal ring frame (112) depending on the location.

This wireless fracture correction robot device (1) will be described in detail below.

The user terminal (2) is linked to the wireless fracture reduction robot device (1) to receive length information or the relative position/posture between the distal ring frame (111) and the proximal ring frame (112), and can receive operation information for adjusting the length of the strut (120) from the user and transmit it to the wireless fracture reduction robot device (1).

Here, the user terminal (2) may be a terminal used by a PC, mobile terminal, tablet, or PDA (Personal Digital Assistant).

Additionally, the manipulation information may be relative position/position information between the distal ring frame (111) and the proximal ring frame (112) or length information of the strut (120).

In addition, the user terminal (2) can be linked with the wireless fracture reduction robot device (1) by utilizing a pairing method using a direct contact method such as NFC (near field communication) and long-distance wireless communication using the 2.4 GHz ISM universal frequency.

In addition, the user terminal (2) can store length information received from the wireless fracture reduction robot device (1), and infer the shape of the entire wireless fracture reduction robot device (1) according to each length information and store it as shape information.

That is, the wireless fracture reduction robot device (1) can transmit relative position/posture information or length information of the strut (120) between the distal ring frame (111) and the proximal ring frame (112) that has changed according to the operation information transmitted from the user terminal (2) to the user terminal (2).

Accordingly, the user terminal (2) can provide the user with big data related to bone reduction according to patient characteristics by accumulating data for desirable bone reduction through length information.

FIG. 2 is a perspective view illustrating a wireless fracture reduction robot device according to an embodiment of the present invention, FIG. 3 is an exemplary view illustrating FIG. 2 mounted on a human body, FIG. 4 is a control block diagram of FIG. 2, FIG. 5 is a perspective view illustrating the connection of a motor module of a strut and a wireless drive pack of FIG. 2, and FIG. 6 is a front view of FIG. 5.

A wireless fracture reduction robot device (1) according to an embodiment of the present invention is a wireless fracture reduction robot device for a patient, which has a battery, a motor module (210), etc. built into the device so that the wires are not exposed to the outside, and may include a fracture reduction unit (100), a wireless drive pack (200), and a control unit (400) as shown in FIGS. 2 to 4.

The fracture reduction unit (100) may be a part that penetrates the patient's arm or leg and is directly fixed to the affected area. The fracture reduction unit (100) may fix and traction the affected area in order to reduce the bone.

Here, reduction refers to the operation of returning the dislocated bone fragments or dislocated bone head, that is, the bone, to its original position in case of fracture or dislocation.

As illustrated in FIG. 2, the fracture reduction unit (100) may include a ring frame (110) and a strut (120).

The ring frame (110) is formed in the shape of a ring so that the patient's arm or leg can be passed through it and then fixed to the location of the affected area.

In addition, a plurality of ring frames (110) may be provided, and a plurality of ring frames (110) may be positioned at a set interval and fixed along the longitudinal direction of the fractured area.

Preferably, as shown in FIG. 3, the ring frame (110) is fixed to the distal bone piece (DB) and the proximal bone piece (PB), respectively, and can be divided into a distal ring frame (111) and a proximal ring frame (112) depending on the position.

A strut (120) may be provided to connect between a distal ring frame (111) and a proximal ring frame (112).

These struts (120) are provided in one or more configurations and are formed to have variable lengths, such as actuators, cylinders, etc., so that the angle and distance between the distal ring frame (111) and the proximal ring frame (112) can be adjusted.

Specifically, referring to FIG. 5, the strut (120) may include a cylinder (121), a rod (122), a lower connector (123), and an upper connector (124).

A cylinder (121) can be rotatably connected to a ring frame (110) by having one end open and a ring-shaped connecting body (121a) formed at the other end.

Additionally, the cylinder (121) may be equipped with a sight gauge (121b) whose interior is visible along the longitudinal direction of the circumference so that the user can determine the position of the load (122).

Additionally, referring to Fig. 6, a measurement scale can be formed along the longitudinal direction of (121b).

Accordingly, the user can determine the length of each strut (120) through the site gauge (121b), and further, can determine the shape of the fracture reduction part (100) fixed to the affected area according to the length of the strut (120).

The load (122) may be provided to move in one direction along the length of the cylinder (121) within the cylinder (121).

In addition, the load (122) is connected to the ring frame (110) by a lower connector (124) to be described below and connected to a wireless drive pack (200) so that it can move back and forth inside the cylinder (121).

The lower connector (123) may be formed with a clamp (not shown) formed along its periphery so as to be in close contact with the edge of the ring frame (110).

Additionally, the lower connector (123) can transmit driving force to connect the load (122) and the wireless drive pack (200) so that the load (122) can reciprocate inside the cylinder (121).

The upper connector (124) is connected so that the connecting body (121a) can rotate, thereby providing six degrees of freedom for pitch, yaw and roll rotation to the ring frame (110) according to the movement of the load (122), that is, the change in the length of the strut (120).

Accordingly, the position and posture between the distal ring frame (111) and the proximal ring frame (112) can be adjusted according to the change in the length of the strut (120).

The wireless drive pack (200) may include a drive unit (210) connected to a ring frame (110) to transmit power to a strut (120) for length variation.

Specifically, the driving unit (210) has a motor module (211) built inside, and a driver coupler (212) that transmits power of the motor module (211) protrudes toward the strut (120) and is connected to the lower connector (123), thereby transmitting power to the strut (120).

This wireless drive pack (200) can be formed as a wireless in which wires connected to the robot, such as communication lines and power lines, are not exposed to the outside but are installed inside.

In addition, the wireless drive pack (200) may be formed in a ring shape so that the patient's arm or leg can pass through it, but may have an inner diameter longer than the outer diameter of the ring frame (110).

In other words, the wireless drive pack (200) is formed larger than the ring frame (110) so as not to impede the movement of the ring frame (110) when the patient's arm or leg penetrates the ring frame (110).

The sensor unit (300) can measure the position of at least one strut (120).

At this time, the sensor unit (300) may be installed in the strut (120) of the fracture reduction unit (100), inside the wireless drive pack (200), etc., according to the user's request.

This sensor unit (300) will be described in more detail below.

The control unit (400) is provided inside the wireless drive pack (200) and can generate length information of the strut (120) based on the position of the strut (120) measured from the sensor unit (300).

Here, the control unit (400) can generate length information for each of at least one strut (120) forming the fracture reduction unit (100).

In addition, the control unit (400) can receive operation information for adjusting the length of the strut (120) in the wireless drive pack (200) from the user through the user terminal (2).

Here, the control unit (400) communicates with the user terminal (2) by utilizing a pairing method using a direct contact method such as NFC (near field communication) and long-distance wireless communication using a 2.4 GHz ISM universal frequency, and can also communicate with terminals other than the user terminal (2).

In addition, the control unit (400) provides the length information of the strut (120) to the user terminal (2) so that the user can check it, and can receive operation information for adjusting the length of the strut (120) from the user terminal (2) and transmit it to the wireless drive pack (200).

Accordingly, the user can manipulate the shape of the fracture reduction unit (100) to suit the patient's characteristics by adjusting the length of the strut (120) based on the length information.

The control unit (400) can measure the length of each of one or more struts (120) forming the fracture reduction unit (100), thereby providing information that can adjust the angle according to the change in length of each strut (120) and infer the shape of the entire fracture reduction unit (100).

In addition, the user can estimate data for desirable bone conquest through length information generated by the control unit (400), thereby constructing big data related to bone conquest according to patient characteristics.

The sensor unit (300) according to one embodiment of the present invention may include a rotation speed measuring sensor (not shown).

The rotation speed measurement sensor can generate sensor information by measuring the rotation speed of the motor module (211).

Here, the sensor information is the position of the strut measured by the rotation speed measuring sensor through the rotation speed of the motor module (211).

Specifically, the rotation speed measuring sensor is connected to the rotation axis of the motor module (211) or the rotation axis of the driver coupler (212) and can measure the rotation speed by generating an electric signal with 1 pulse per rotation in the rotation direction of the rotation axis.

Additionally, the rotation speed sensor can further divide one rotation into 360 to measure the rotation speed as a rotation angle, which can be set according to the user's needs.

At this time, the control unit (400) can generate length information by receiving sensor information generated according to the rotation of the motor module (211) from the rotation speed measuring sensor and determining the total length of the strut (120).

Specifically, the control unit (400) can generate length information of the strut (120) based on sensor information measured by the resistance measuring sensor (310), that is, the absolute value of the degree to which the load (122) moves inside the cylinder (121) according to the rotation of the motor module (211).

Meanwhile, the sensor unit (400) may be provided on the strut (120). Hereinafter, various embodiments of the sensor unit (400) provided on the strut (120) will be described.

FIG. 7 is an exemplary diagram showing a sensor section according to the first embodiment formed on a strut according to an embodiment of the present invention.

Referring to FIG. 7, the sensor unit (300) of the wireless fracture reduction robot device (1) according to an embodiment of the present invention can be replaced with the form according to the first embodiment.

At this time, a conductor (125) through which current flows along the longitudinal direction can be formed in the strut (120).

The conductor (125) may be formed along the length of the load (122), but may be formed so as to be exposed through the site gauge (121b).

As these conductors (125) are moved away from the part where current is supplied, the number of collisions between electrons and atoms increases as they pass through the conductor (125), thus hindering the flow of current, and thus the size of the resistance increases.

The sensor unit (300) according to the first embodiment of the present invention may include a resistance measuring sensor (310).

The resistance measurement sensor (310) can generate sensor information by measuring resistance through the size of the current from the conductor (125).

Here, the sensor information is the position of the strut measured through the resistance resistance size of the surface where the resistance measurement sensor (310) comes into contact with the conductor (125).

Specifically, the resistance measuring sensor (310) is provided adjacent to the site gauge (121b) of the cylinder (121), but is formed to face the direction of the site gauge (121b) so as to detect the current of the conductor (125).

This resistance measuring sensor (310) detects the current flowing in the conductor (125), measures the resistance according to the change in the current intensity, and can generate sensor information through the corresponding resistance value.

That is, the position of the resistance measurement sensor (310) is fixed, and the position at which it comes into contact with the conductor (125) changes as the load (122) moves, thereby changing the measured resistance value.

At this time, the control unit (400) can generate length information by receiving sensor information, which is a resistance value that changes according to the change in position due to the movement of the load (122), and determining the total length of the strut (120).

Specifically, the control unit (400) can generate length information of the strut (120) by matching the sensor information measured by the resistance measuring sensor (310), that is, the resistance value measured differently depending on the degree to which the load (122) has moved inside the cylinder (121), with the total length of the strut (120) at that time.

FIG. 8 is an exemplary diagram showing a sensor section according to a second embodiment formed on a strut according to an embodiment of the present invention.

Referring to FIG. 8, the sensor unit (300) of the wireless fracture reduction robot device (1) according to the embodiment of the present invention can be replaced with a form according to the second embodiment.

At this time, the sensor part (300) is provided in the lower connector (123), but one side facing the other end of the load (122) is open so that the wire (321) can be released or wound according to the movement of the load (122).

The sensor unit (300) according to the second embodiment of the present invention may include a winder (320), a wire (321), a spring (not shown), and a wire sensor (322).

The winder (320) can wind a wire (321) connected to the strut (120).

At this time, the wire (321) is connected to a wire fixing projection extending from the other end of the rod (122) in the direction of the site gauge (121b) and can be wound or unwound from the winder (320) according to the movement of the rod (122).

The mainspring can be wound or unwound by rotating the winder (320).

Specifically, when tension is applied to the wire (321) connected to the load (122) according to the withdrawal of the load (122), the winder (320) can be rotated in the direction in which the tension is applied so that the wire (321) is released.

In addition, since the mainspring is formed in the form of an elastic body having elasticity and a force is applied to the center, when the tension of the wire (321) weakens due to the introduction of the rod (122), the winder (320) can be rotated in the opposite direction to the tension so that the wire (321) is wound, that is, restored.

In addition, the mainspring can provide elasticity to the wire (321) to prevent the wire (321) from sagging when wound or unwound.

The wire sensor (323) can generate sensor information by measuring the length of the unwound wire (321) according to the rotation of the winder (320).

Specifically, the wire sensor (322) is equipped with a potentiometer so that a variable voltage or variable current is generated according to the rotation of the winder (320), and the length of the wire (321) can be determined by measuring the number of rotations according to the resistance value according to the variable voltage or variable current, thereby generating sensor information.

In addition, the wire sensor (322) can recognize the rotation direction of the winder (320) and determine whether the wire (321) is being wound or unwound even if the same resistance value is measured.

At this time, the control unit (400) can receive sensor information, which is the length of the wire (321) according to the movement of the load (122), and determine the total length of the strut (120) to generate length information.

Specifically, the control unit (400) can generate length information of the strut (120) by matching the sensor information measured by the wire sensor (322), that is, the length of the wire (321) measured differently depending on the degree to which the load (122) has moved inside the cylinder (121), with the total length of the strut (120) at that time.

FIG. 9 is an exemplary diagram showing a sensor section according to a third embodiment formed on a strut according to an embodiment of the present invention.

Referring to FIG. 9, the sensor unit (300) of the wireless fracture reduction robot device (1) according to an embodiment of the present invention can be replaced with a form according to the third embodiment.

At this time, the strut (120) can form a reflector (126) whose size of the reflective surface changes as it moves along the longitudinal direction.

The reflector (126) may be formed to increase in size along the length of the load (122), but may be formed to be exposed through the site gauge (121b).

When light is incident on these reflectors (126), the area of reflected light can increase along the longitudinal direction.

The sensor unit (300) according to the third embodiment of the present invention may include a light measuring sensor (330).

The light measuring sensor (330) can irradiate light onto a reflector (126), receive light reflected from the reflector (126), and measure the amount of reflected light to generate sensor information.

Specifically, the light measuring sensor (330) is provided adjacent to the site gauge (121b) of the cylinder (121), but is formed to face the direction of the site gauge (121b) so as to irradiate light onto the reflector (126) and receive the reflected light, thereby measuring the amount of reflected light and generating sensor information.

At this time, the control unit (400) can generate length information by receiving sensor information on the amount of light reflected that changes according to the change in position due to the movement of the load (122) and determining the total length of the strut (120).

Specifically, the control unit (400) can generate length information of the strut (120) by matching the sensor information measured by the light measuring sensor (330), that is, the amount of light reflected, which is measured differently depending on the degree to which the load (122) has moved inside the cylinder (121), with the total length of the strut (120) at that time.

Meanwhile, the basic form of the sensor unit (300) described first and each component constituting the sensor unit (300) according to the first to third embodiments may be formed so that each component is replaced or used interchangeably within a range that does not interfere with each other according to the user's needs.

In addition, the basic form of the sensor unit (300) described first and each component constituting the sensor unit (300) according to the first to third embodiments can exhibit the same effect.

The embodiments of the present invention described above are not implemented only through systems and/or methods, but may also be implemented through systems for realizing functions corresponding to the configurations of the embodiments of the present invention, configurations used in the systems, etc., and such implementations can be easily implemented by an expert in the technical field to which the present invention belongs, based on the description of the embodiments described above.

In addition, although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

1: Wireless fracture conquest robot motion system
100 : Fracture reduction area
110 : Ring Frame
111: Distal ring frame
112 : Guard ring frame
120 : Strut
121 : Cylinder
121a : connector
121b : Site Gauge
122 : Load
123 : Bottom connector
124 : Top connector
125 : Conductor
126 : Reflector
200: Wireless Drive Pack
210 : Drive Unit
211 : Motor module
212 : Driver Coupler
300 : Sensor section
310 : Resistance measurement sensor
320 : Winder
321 : Wire
322 : Wire Sensor
330 : Light measurement sensor
DB: Distal bone fragment
PB: Proximal Bone Piece

Claims (6)

A fracture reduction device comprising a plurality of ring frames configured to surround a fractured part of a patient and at least one strut provided between the plurality of ring frames to adjust a distance between the ring frames;
A wireless drive pack connected to one of the plurality of ring frames and providing power to the strut to adjust the gap;
A sensor unit for measuring the position of at least one strut; and
A control unit that generates length information of the strut based on the position of the strut measured from the sensor unit;
Including,
The above sensor unit and control unit are provided inside the wireless drive pack,
The above wireless drive pack is,
The battery and the motor module that transmits power to the above strut are installed inside, and the wires are built inside so that they are not exposed to the outside, enabling wireless operation.
The above wireless drive pack is,
A wireless fracture reduction robot device characterized by having an inner diameter longer than an outer diameter of the ring frame, formed in a ring shape so that a patient's arm or leg can pass through it, and formed in a 'C' shape with a portion cut out.
In paragraph 1,
The above sensor part,
A wireless fracture reduction robot device including a rotation speed measuring sensor that measures the rotation speed of the motor module to measure the position of the strut.
In paragraph 1,
The above struts,
A conductor is formed through which current flows along its length,
The above sensor part,
A wireless fracture reduction robot device including a resistance measuring sensor that measures the position of the strut by measuring the resistance through the magnitude of the current from the conductor.
In paragraph 1,
The above sensor part,
A winder for winding a wire connected to the above strut;
A mainspring for rotating the above winder to unwind or wind the wire;
A wireless fracture reduction robot device including a wire sensor that measures the length of the wire released according to the rotation of the winder and thereby measures the position of the strut.
In paragraph 1,
The above struts,
A reflector is formed whose size of the reflective surface changes as it moves along the longitudinal direction.
The above sensor part,
A wireless fracture reduction robot device including an optical measurement sensor that irradiates light to the reflector, receives light reflected from the reflector, and measures the amount of reflected light to measure the position of the strut.
A wireless fracture reduction robot device comprising a fracture reduction unit including a plurality of ring frames arranged to surround a fractured part of a patient and at least one strut provided between the plurality of ring frames to adjust a distance between the ring frames, a wireless drive pack connected to one of the plurality of ring frames to provide power to the strut to adjust the distance, a sensor unit for measuring a position of the at least one strut, and a control unit for generating length information of the strut based on the position of the strut measured from the sensor unit.
It includes a user terminal that is linked to the wireless fracture reduction robot device to receive the length information, receives operation information for adjusting the length of the strut from the user, and transmits the information to the wireless fracture reduction robot device.
The above sensor unit and control unit are provided inside the wireless drive pack,
The above wireless drive pack is,
The battery and the motor module that transmits power to the above strut are installed inside, and the wires are built inside so that they are not exposed to the outside, enabling wireless operation.
The above wireless drive pack is,
A wireless fracture reduction robot device operating system characterized in that it has an inner diameter longer than the outer diameter of the ring frame, is formed in a ring shape so that a patient's arm or leg can pass through it, and is formed in a 'C' shape with a portion cut out.

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