CN119344871B

CN119344871B - Multi-degree-of-freedom bone cutting mechanism and bone cutting robot

Info

Publication number: CN119344871B
Application number: CN202411484693.6A
Authority: CN
Inventors: 顾勇刚; 艾畅; 王凡; 任欧洋; 黄翔; 朱显峰; 余龙华; 徐红星
Original assignee: Wuhan Changjiang Laser Technology Co ltd
Current assignee: Wuhan Changjiang Laser Technology Co ltd
Priority date: 2024-10-23
Filing date: 2024-10-23
Publication date: 2025-05-27
Anticipated expiration: 2044-10-23
Also published as: CN119344871A

Abstract

The present invention relates to the technical field of medical devices, and proposes a multi-degree-of-freedom osteotomy mechanism and an osteotomy robot, including a flipping mechanism, a manipulator, a disinfection box and a disinfection device, wherein the movable end of the flipping mechanism is connected to the manipulator; the disinfection box includes a box body relatively fixed to the flipping mechanism, and a box cover that can be opened and closed relative to the box body; the disinfection device is arranged in the box body, and the disinfection device is a gas disinfection device or an ultraviolet disinfection device; the flipping mechanism and the disinfection box are connected to an operating table; when the manipulator is in a storage position, the manipulator is located in the box cover. The present invention provides a disinfection box and a flipping mechanism for installing a manipulator, so that when laser osteotomy is performed, the manipulator can be flipped to the osteotomy position, and after the osteotomy is completed, it can be flipped into the disinfection box and disinfected by the disinfection device, which effectively improves the convenience of disinfection of the manipulator; at the same time, the flipping mechanism and the disinfection box are connected to the operating table, which realizes a high degree of structural integration and reduces space occupancy.

Description

Multi-degree-of-freedom bone cutting mechanism and bone cutting robot

Technical Field

The invention relates to the technical field of medical equipment, in particular to a multi-degree-of-freedom osteotomy mechanism and an osteotomy robot.

Background

The laser osteotomy method is a novel non-contact operation mode, can effectively avoid the problems of mechanical damage, thermal damage and the like in the traditional swing saw operation process, effectively increases the operation field, can perform complex track cutting work, is beneficial to performing fine and complex osteotomy operation, and shortens the recovery time of patients.

The invention patent application with the prior authorization bulletin number of CN113509269B discloses a laser bone cutting auxiliary total hip replacement surgery robot, which relates to the technical field of medical instruments and comprises a control computer main body, wherein a base is arranged at the front end of the top of the control computer main body, the top of the base is connected with the robot main body, a connecting wire is arranged on the left side of the control computer main body, a support is arranged in front of the control computer main body, an operating table is fixed at the top of the support, the other end of the connecting wire is connected with an auxiliary device, a laser cutting end effector is arranged at the front end of the robot main body and used for cutting according to a preset cutting amount at a preset position, the right side of the laser cutting end effector is connected with an auxiliary water spraying and blowing device, and the auxiliary water spraying and blowing device is used for spraying water and blowing air to an acetabulum.

In the technical scheme, the surgical robot for laser osteotomy is disclosed, wherein the robot main body is arranged on the computer main body through the base, so that the robot needs to be moved to the operating table for use when in operation, and meanwhile, the positions of the robot need to be reasonably arranged so as to facilitate the robot to unify the operation space coordinates.

The surgical robot with the structure occupies a relatively large space, has an open structure and is unprotected in appearance, and has the problems of inconvenience and easy disinfection dead angles due to the fact that the robot has more joints and complex structure during disinfection, so that the existing surgical robot needs to be improved.

Disclosure of Invention

In view of the above, the invention provides a multi-degree-of-freedom osteotomy mechanism with small occupied space and convenient sterilization and an osteotomy robot, so as to solve the problems of large occupied space and difficult sterilization of the existing osteotomy robot.

The technical scheme of the invention is realized as follows:

in one aspect, the invention provides a multi-degree-of-freedom osteotomy mechanism, which comprises a turnover mechanism, a manipulator, a disinfection box and a disinfection device, wherein,

The movable end of the turnover mechanism is connected with the manipulator, and the turnover mechanism is used for driving the manipulator to turn over by one hundred and eighty degrees so as to enable the manipulator to be in an osteotomy position or a storage position;

the sterilizing box comprises a box body which is relatively fixed with the turnover mechanism and a box cover which can be relatively opened and closed with the box body;

the sterilizing device is arranged in the box body and is a gas sterilizing device or an ultraviolet sterilizing device;

the turnover mechanism and the disinfection box are connected with an operating table;

When the manipulator is in the storage position, the manipulator is positioned in the box cover.

On the basis of the technical proposal, the turnover mechanism preferably comprises a linear module, a double-shaft motor and a connecting arm, wherein,

The linear module is relatively fixed with the sterilizing box;

The double-shaft motor is arranged at the movable end of the linear module, and the output end of the double-shaft motor is connected with two connecting arms;

the two connecting arms are respectively provided with a manipulator, the movable end of one manipulator is provided with a laser cutting head, and the movable end of the other manipulator is provided with a light supplementing lamp;

two sterilizing boxes are arranged corresponding to the manipulators.

Based on the technical proposal, the sterilizing device preferably comprises an end plate, an ultraviolet lamp, a quartz spiral tube, a tube sleeve and an axial flow fan, wherein,

The end plates are oppositely arranged;

both ends of the ultraviolet lamp are respectively connected with one end plate;

The two ends of the quartz spiral tube are respectively connected with one end plate, a plurality of quartz spiral tubes are arranged around the ultraviolet lamp, and the quartz spiral tube is communicated with the space in the opposite and far direction of the two end plates;

The pipe sleeve is sleeved on the two end plates to seal the ultraviolet lamp and the quartz spiral pipes, a window is formed in the pipe sleeve corresponding to the two adjacent quartz spiral pipes, and quartz glass is arranged in the window;

the axial fan is arranged in one end of the pipe sleeve.

On the basis of the technical proposal, the disinfection device preferably further comprises a retainer and a guide sleeve, wherein,

The air guide sleeve is arranged at one end of the pipe sleeve, which is far away from the axial flow fan, and is made of plastic material, and a plurality of cutting grooves are formed in the air guide sleeve;

the retainer is arranged in the box body, two disinfection devices are arranged on the retainer, and the two disinfection devices are arranged at the end parts of the axial flow fan and are relatively far away;

The slots of the two fairings are staggered in the circumferential direction of the pipe sleeve.

On the basis of the technical proposal, the water supply device also preferably comprises a water supply assembly, wherein the water supply assembly comprises a carrier, a bedplate, a water tank, a sealing ring and a screw rod,

The carrier is connected with the two connecting arms;

the bedplate is arranged on the carrier and provided with a through hole;

The water tank is arranged on the carrier, and the top surface of the water tank is opened;

the sealing ring is arranged on the bottom surface of the bedplate and corresponds to the edge of the opening of the top surface of the water tank;

The screw rod is in threaded connection with the carrier, and one end of the screw rod abuts against the bottom surface of the water tank;

when the manipulator is in the storage position, the water supply assembly is positioned between the two disinfection devices.

On the basis of the technical proposal, preferably, the carrier comprises a connecting plate and a supporting plate, the end part of the water tank is provided with a positioning plate, wherein,

The connecting plate is connected with the two connecting arms;

two support plates are arranged on the connecting plate in parallel;

the bedplate is arranged on the supporting plate;

the locating plate is in sliding fit with the two support plates.

On the basis of the technical proposal, the device preferably further comprises a three-head bracket and a supporting piece, wherein the supporting piece comprises a locating rack, a swing arm and a strut,

One end of the three-head bracket is connected with the connecting arm, one end is connected with the manipulator, and the other end is a free end;

the positioning frame is fixed relative to the turnover mechanism;

one end of the swing arm is rotationally connected with the positioning frame, and the support column is arranged on the other end of the swing arm;

the swing arm is used for driving the support column to move between the supporting position and the storage position;

when the support is in the storage position, the end part of the support is positioned between the two disinfection boxes;

When the support column is in the supporting position, the top end of the support column is connected with the free end of the three-head support.

On the other hand, the invention provides another osteotomy robot, which comprises the multi-degree-of-freedom osteotomy mechanism, a lifting table and a bed plate, wherein,

The bed board is arranged on the lifting table;

the turnover mechanism and the sterilizing box are arranged on the bottom surface of the bed board;

When the manipulator is in the storage position, the water supply assembly is positioned between the turnover mechanism, the lifting table and the two disinfection boxes;

When the support is in the storage position, the end parts of the support are positioned between the two disinfection boxes, the water supply assembly and the lifting platform.

On the basis of the technical scheme, preferably, the shell, the box body, the locating rack, the lifting table and the bed board of the linear module are arranged into an integrated structure.

In still another aspect, the present invention provides an osteotomy robot, comprising a multi-degree-of-freedom osteotomy mechanism as described above, comprising a lifting table and a bed plate, wherein,

The bed board is arranged on the lifting table;

the turnover mechanism and the sterilizing box are arranged on the bottom surface of the bed board.

Compared with the prior art, the multi-degree-of-freedom osteotomy mechanism and osteotomy machine have the following beneficial effects:

(1) The sterilizing box is arranged, and the turnover mechanism is arranged for installing the manipulator, so that the manipulator can be turned over to an osteotomy position when the laser osteotomy is carried out, and can be turned into the sterilizing box after the osteotomy is finished, and the sterilizing is carried out through the ultraviolet or gas sterilizing device, so that the sterilizing convenience of the manipulator is effectively improved; meanwhile, the turnover mechanism and the disinfection box are connected with the operating table, so that the high integration of the structure is realized, and the occupied space of equipment is reduced;

(2) The ultraviolet lamp and the quartz threaded tube are arranged between the two partition boards, and the quartz threaded tube passes through the partition boards, so that when the sterilizing device is used for sterilizing, the air flow in the sterilizing box can be promoted to circulate through the quartz spiral tube by virtue of the suction of the axial flow fan, and the ultraviolet lamp can kill germs carried by the air flow at the moment;

(3) In the bone cutting mechanism, the sterilizing device is fixed through the retainer, two sterilizing devices are arranged on the retainer, and the air guide sleeve is arranged in the sterilizing device, so that the structure of the sterilizing device is more compact, the occupied space is reduced, the effect of the air guide sleeve is small, the air flow interference of the two sterilizing devices in operation can be obviously reduced, the air flow circulation is fully ensured, and the sterilizing effect is further ensured;

(4) Meanwhile, the water supply assembly is connected with the two connecting arms, so that when the turnover mechanism drives the mechanical arm to move, the water supply assembly synchronously moves to switch between the storage position and the osteotomy position, thereby ensuring water spray supply during operation and not occupying space;

(5) The connecting arm and the manipulator are connected through the three-head support, so that the three-head support has a free end, the free end of the three-head support is conveniently connected through the movable carrier when the manipulator is overhauled, and the three-head support and the connecting arm can be detached subsequently, so that the convenience of maintenance is improved;

(6) In this osteotomy robot, through setting up the casing, box, locating rack, elevating platform and the bed board of sharp module as an organic whole structure, can guarantee the relative fixation of each part to ensure that tilting mechanism is when the action, each subassembly motion position is accurate, in order to prevent to interfere, thereby guarantee good accomodate effect.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a multiple degree of freedom osteotomy mechanism of the present invention;

FIG. 2 is a perspective view of a manipulator extraction structure of the multiple degree of freedom osteotomy mechanism of the present invention;

FIG. 3 is a perspective view of a support member of the multiple degree of freedom osteotomy mechanism of the present invention;

FIG. 4 is a perspective view of the osteotomy robot of the present invention;

FIG. 5 is a bottom structural perspective view of the osteotomy robot of the present invention;

FIG. 6 is a side view of the osteotomy robot of the present invention;

FIG. 7 is a perspective view of a manipulator extraction structure of the osteotomy robot of the present invention;

FIG. 8 is a bottom perspective view of a manipulator extraction structure of the osteotomy robot of the present invention;

FIG. 9 is a perspective view of an application state of the osteotomy robot of the present invention;

FIG. 10 is a perspective view of the bottom surface structure of the osteotomy robot of the present invention;

FIG. 11 is an enlarged view of the structure of point A in FIG. 10 in accordance with the present invention;

FIG. 12 is a side view of an application state of the osteotomy robot of the present invention;

FIG. 13 is a perspective view of a sterilizing device and holder of the multiple degree of freedom osteotomy mechanism of the present invention;

FIG. 14 is an exploded view of a sterilizing device for a multiple degree of freedom osteotomy mechanism of the present invention;

FIG. 15 is an exploded view of the water supply assembly of the multiple degree of freedom osteotomy mechanism of the present invention;

FIG. 16 is a bottom view of an exploded view of a water supply assembly of the multiple degree of freedom osteotomy mechanism of the present invention;

The device comprises a turnover mechanism, a linear module, a double-shaft motor, a connecting arm, a 101, a semicircular groove, a2, a manipulator, a3, a sterilizing box, a 31, a box body, a 32, a box cover, a4, a sterilizing device, a 41, an end plate, a 42, an ultraviolet lamp, a 43, a quartz spiral tube, a 44, a pipe sleeve, a 45, an axial fan, a 46, a guide cover, a 401, a window, a 402, a grooving, a5, a retainer, a 6, a water supply assembly, a 61, a carrier, a 611, a connecting plate, a 612, a supporting plate, a 62, a bedplate, a 63, a water tank, a 631, a locating plate, a 64, a sealing ring, a 65, a screw rod, a 601, a through hole, a 7, a three-head bracket, a 8, a supporting piece, a 81, a locating frame, a 82, a swing arm, a 83, a strut, a 9, a lifting platform, a10 and a bed plate.

Detailed Description

The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.

As shown in fig. 1-16, the multi-degree-of-freedom osteotomy mechanism of the invention comprises a turnover mechanism 1, a manipulator 2, a sterilization box 3, a sterilization device 4, a retainer 5, a water supply assembly 6, a three-head bracket 7 and a support piece 8;

the osteotomy robot comprises the multi-degree-of-freedom osteotomy mechanism, and further comprises a lifting table 9 and a bed plate 10.

As shown in fig. 1-4, the movable end of the turnover mechanism 1 is connected with the manipulator 2, the turnover mechanism 1 is used for driving the manipulator 2 to turn over by one hundred and eighty degrees so as to enable the manipulator 2 to be in a bone cutting position or a storage position, the disinfection box 3 comprises a box body 31 relatively fixed with the turnover mechanism 1 and a box cover 32 relatively openable and closable with the box body 31, the disinfection device 4 is arranged in the box body 31, and the manipulator 2 is positioned in the box cover 32 when the manipulator 2 is in the storage position.

According to the structure, the turnover mechanism 1 is used for driving the manipulator 2 to perform turnover displacement so as to drive the manipulator 2 to move between the osteotomy position and the storage position;

specifically, the turning amplitude of the turning mechanism 1 is one hundred eighty degrees, namely one side of the turning mechanism 1 is a storage position, and the other side is an osteotomy position;

the manipulator 2 is used for executing osteotomy, and a laser cutting head is arranged at the end part of the manipulator 2 when the manipulator is applied so as to cut bones;

after the osteotomy is finished, cleaning the manipulator 2 and a laser cutting head at the end of the manipulator, and transferring the manipulator 2 to a storage position through the turnover mechanism 1;

Specifically, when the turnover mechanism 1 acts, the case cover 32 is in an open state, so that the manipulator 2 can move, and when the manipulator 2 moves to the storage position, the case cover 32 and the case 31 are closed, so that the manipulator 2 is sealed;

specifically, the case 31 and the case cover 32 each have a certain volume, and are set corresponding to the sterilizing device 4 and the manipulator 2, respectively, and after the case 31 and the case cover 32 are closed, the sterilizing device 4 and the manipulator 2 are both located in the sterilizing case 3, and correspond to the space between the case 31 and the case cover 32.

As shown in fig. 11, a semicircular groove 101 is formed in the case body 31 and the case cover 32 of the sterilizing case 3, so that a connecting piece between the manipulator 2 and the turnover mechanism 1 can pass through the semicircular groove, and the case cover 32 is prevented from being closed;

specifically, a sealing ring is provided between the case body 31 and the case cover 32 to ensure the sealability of the sterilization case 3.

Specifically, the case body 31 and the case cover 32 are connected by a hinge and a buckle, so that the case cover 32 can be opened and closed;

in some embodiments, automatic opening of the cover 32 may also be accomplished using an automated displacement mechanism, such as an electric push rod, cylinder, or the like.

As described above, after the turnover mechanism 1 drives the manipulator 2 to enter the box 31, the manipulator 2 is sterilized by the sterilizing device 4;

specifically, the sterilizing device 4 adopts a gas sterilizing device or an ultraviolet sterilizing device to realize the sterilization of the manipulator 2;

meanwhile, the turnover mechanism 1 and the disinfection box 3 are connected with an operating table, so that the osteotomy mechanism realizes integration with the operating table, can reduce the occupied area, forms an integrated osteotomy platform, has a compact integral structure and has the advantage of convenience in disinfection.

As shown in fig. 1 and 5, the turnover mechanism 1 comprises a linear module 11, a double-shaft motor 12 and a connecting arm 13, wherein the linear module 11 is relatively fixed with the sterilizing box 3, the double-shaft motor 12 is arranged on the movable end of the linear module 11, and the output end of the double-shaft motor 12 is connected with the two connecting arms 13, one manipulator 2 is respectively arranged on the two connecting arms 13, the movable end of one manipulator 2 is provided with a laser cutting head, the movable end of the other manipulator 2 is provided with a light supplementing lamp, and the sterilizing box 3 is provided with two corresponding manipulators 2;

The structure is as above, wherein the double-shaft motor 12 is used for driving the connecting arm 13 to swing for one hundred eighty degrees, and the manipulator 2 is arranged on the connecting arm 13 to synchronously move so as to realize the switching between the storage position and the osteotomy position;

In operation, a light supplementing lamp is usually used for observation, so that a double-shaft motor 12 is adopted, two connecting arms 13 are arranged on two output shafts to mount two manipulators 2, one manipulator 2 is provided with a laser cutting head, and the other manipulator 2 is provided with the light supplementing lamp;

in this structure, the linear module 11 may use a screw guide rail to drive the manipulator 2 to move along the edge of the operating table, so as to be suitable for osteotomy of different patients and different parts.

In some embodiments, the light-compensating lamp may be mounted on the connecting arm 13 instead of the connecting arm 13, and a metal shaping hose such as a gooseneck is mounted on the connecting arm 13 for mounting the light-compensating lamp, and in this embodiment, after the application is completed, the posture of the metal shaping hose should be adjusted so that the metal shaping hose can be successfully stored in the sterilizing box 3, so as to avoid action interference in the storing process.

In some embodiments, the end of the manipulator 2 is not provided with a light supplementing lamp, but is provided with a water spraying mechanism for irrigating a wound of a patient;

In some embodiments, the water spraying mechanism and the laser cutting head are integrated on the same robot 2.

Specifically, the connecting arm 13 is a connecting piece between the manipulator 2 and the tilting mechanism 1, and when the manipulator is stored, the connecting arm 13 passes through the semicircular groove 101.

As shown in fig. 8 and 14, the sterilizing device 4 comprises end plates 41, ultraviolet lamps 42, quartz spiral pipes 43, a pipe sleeve 44 and an axial flow fan 45, wherein two end plates 41 are oppositely arranged, two ends of each ultraviolet lamp 42 are respectively connected with one end plate 41, two ends of each quartz spiral pipe 43 are respectively connected with one end plate 41, a plurality of quartz spiral pipes 43 are arranged around the ultraviolet lamps 42, the space in the opposite far direction between each quartz spiral pipe 43 and the two end plates 41 is penetrated, the pipe sleeve 44 is sleeved on the two end plates 41 so as to seal the ultraviolet lamps 42 and the quartz spiral pipes 43, the pipe sleeve 44 is provided with a window 401 corresponding to the two adjacent quartz spiral pipes 43, quartz glass is arranged in the window 401, and the axial flow fan 45 is arranged in one end of the pipe sleeve 44;

in the present embodiment, the sterilizing device 4 is sterilized by ultraviolet rays as described above;

Wherein the end plate 41 is positioned in the pipe sleeve 44, the internal space of the pipe sleeve 44 is divided into three parts, and the ultraviolet lamp 42 and the quartz spiral tube 43 are positioned in the middle of the pipe sleeve 44, namely between the two end plates 41;

the axial flow fan 45 is disposed in one end space of the shroud 44 such that when the axial flow fan 45 is operated, air flow enters the quartz spiral tube 43 from the other end of the shroud 44 to pass between the two end plates 41;

Because the quartz spiral tube 43 is a spiral hollow pipeline, the gas stroke can be prolonged to ensure good disinfection effect;

In this structure, the air circulation in the sterilizing box 3 can be realized by means of the axial flow fan 45, so that the problem that sterilization cannot be fully performed due to the blocking of the manipulator 2 is avoided, the sterilization dead angle is eliminated, and a good sterilization effect is ensured.

Meanwhile, a window 401 is formed in the pipe sleeve 44, the window 401 corresponds to the gap between two adjacent quartz spiral pipes 43, and ultraviolet rays can pass through the window 401 to sterilize;

Specifically, the window 401 and the spiral tube are made of quartz glass, and the quartz glass has good UV light transmittance so as to ensure a sterilization effect.

In some embodiments, the sterilization can be performed by adopting an air inflation mode synchronously, so that the sterilizing medium directly contacts the manipulator 2, and a good sterilization effect is realized.

As shown in fig. 13 and 14, the disinfection device 4 further includes a guide cover 46, wherein the guide cover 46 is disposed at one end of the shroud 44 away from the axial fan 45, the guide cover 46 is made of plastic material, and a plurality of slots 402 are formed in the guide cover 46;

In order to further ensure the gas circulation effect, the air guide cover 46 is arranged in the disinfection device 4, the air guide cover 46 is divided into a plurality of sector parts through the cutting grooves 402, and the single sector part of the air guide cover 46 can be stirred to adjust the direction because the air guide cover 46 is made of plastic materials, so that the air flow is driven by the axial flow fan 45 to be blown onto the air guide cover 46 and can be guided by the air guide cover 46, thereby ensuring good gas circulation and reducing the influence of the manipulator 2 on the gas circulation.

As shown in fig. 13 and 14, the retainer 5 is disposed in the box 31, and two sterilizing devices 4 are disposed on the retainer 5, and the ends of the two sterilizing devices 4 where the axial fans 45 are disposed are relatively far away;

In the above structure, the sterilizing device 4 is installed in the box 31 through the retainer 5, in order to make full use of space, two sterilizing devices 4 are arranged on the retainer 5, the axial fans 45 on the two sterilizing devices 4 are relatively far away, and the two air guide covers 46 are relatively close, so that the air flow interaction of the two sterilizing devices 4 can be reduced, and meanwhile, the compactness of the structure is ensured;

The flow guide hoods 46 in the two disinfection devices 4 are staggered in the circumferential direction, so that even if a single fan-shaped part of the flow guide hoods 46 is adjusted, the flow leakage can occur due to the fact that the flow guide hoods 402 become large, but the air flow impacts the flow guide hoods 46 of the other disinfection device 4, the air flow interference of the two disinfection devices 4 can be reduced to a certain extent, and good circulation effect is ensured.

As shown in fig. 15 and 16, the water supply assembly 6 comprises a carrier 61, a bedplate 62, a water tank 63, a sealing ring 64 and a screw rod 65, wherein the carrier 61 is connected with two connecting arms 13, the bedplate 62 is arranged on the carrier 61, the bedplate 62 is provided with a through hole 601, the water tank 63 is arranged on the carrier 61, the top surface of the water tank 63 is opened, the sealing ring 64 is arranged on the bottom surface of the bedplate 62 and corresponds to the edge of the top surface opening of the water tank 63, the screw rod 65 is connected with the carrier 61 through threads, one end of the screw rod 65 abuts against the bottom surface of the water tank 63, and the water supply assembly 6 is positioned between two disinfection devices 4 when the manipulator 2 is in a storage position;

In the above structure, when the water supply assembly 6 is arranged, the water supply assembly 6 and the manipulator 2 are synchronously driven to move by the carrier 61 and are arranged on the connecting arm 13 of the turnover mechanism 1, so that the turnover mechanism 1 turns over;

Wherein the water supply assembly 6 is provided with a platen 62 which is directed upwards in the osteotomy position and downwards in the storage position, the platen 62 being used for placing surgical instruments and pump assemblies;

The water tank 63 is arranged between the carrier 61 and the bedplate 62, the top surface of the water tank 63 is open, when the water tank 63 is used, cleaning liquid is injected into the water tank 63 and placed on the carrier 61, and then the screw rod 65 is rotated to lift the water tank 63 so that the top surface port of the water tank 63 abuts against the bedplate 62 for sealing;

In order to ensure the sealing effect, a sealing ring 64 is arranged on the bottom surface of the bedplate 62 to be attached to the opening edge of the water tank 63, so that a good sealing effect is realized;

After the water tank 63 is sealed, a pump on the platen 62 can be connected with the water tank 63 through a through hole 601, and the water outlet end of the pump is connected with a water spraying mechanism so as to clean wounds of patients;

after the application is finished, the screw rod 65 is rotated to loosen the water tank 63, and then the water tank 63 is taken out to be cleaned, so that the cleaning machine has the advantage of convenience in cleaning and is convenient for disinfection;

for this structure, the space between the two manipulators 2 and the space between the two sterilizing tanks 3 are also fully utilized for accommodating the water supply assembly 6, ensuring the compactness of the whole structure.

In some embodiments, a rotatable support plate is provided at the end of the screw 65 for supporting the water tank 63, ensuring good support.

As shown in fig. 16, the carrier 61 comprises a connecting plate 611 and a supporting plate 612, and a positioning plate 631 is arranged at the end of the water tank 63, wherein the connecting plate 611 is connected with two connecting arms 13;

in the above-described configuration, the connection plate 611 is connected to the two connection arms 13 at the time of assembly;

Specifically, as shown in the illustrated structure, the connection plate 611 has an annular portion, and the annular portion is sleeved with the connection arm 13 to be locked and fixed, or is directly set as a clamp, so as to be convenient to connect with the connection arm 13;

the platen 62 is connected to the connecting plate 611 through two support plates 612, an interval exists between the two support plates 612, and a positioning plate 631 is disposed on the water tank 63, so that when the water tank 63 is installed, the positioning plate 631 of the water tank 63 is disposed between the two support plates 612 to realize preliminary positioning, and then the screw rod 65 is rotated to fix the water tank 63 in a top fastening manner, so that the water tank 63 can be guaranteed to be fully abutted to the sealing ring 64.

As shown in fig. 11, one end of the three-head bracket 7 is connected with the connecting arm 13, one end is connected with the manipulator 2, and the other end is a free end;

In the structure, two end parts of the three-head support 7 are used for realizing the connection between the connecting arm 13 and the manipulator 2, and the other end part is used as a free end, so that when the manipulator 2 needs to be overhauled, the free end of the three-head support 7 is conveniently connected by moving the carrier, and the three-head support 7 can be detached from the connecting arm 13 subsequently, and the manipulator 2 can be independently removed for overhauling and maintenance;

at the same time, the free end of the three-head bracket 7 is also used for connecting the supporting piece 8 so as to realize the support of the turnover mechanism 1.

As shown in fig. 1, 9 and 12, the supporting member 8 comprises a positioning frame 81, a swing arm 82 and a strut 83, wherein the positioning frame 81 is relatively fixed with the turnover mechanism 1, one end of the swing arm 82 is rotatably connected with the positioning frame 81, the strut 83 is arranged on the other end of the swing arm 82, the swing arm 82 is used for driving the strut 83 to displace between a supporting position and a storage position, when the strut 83 is in the storage position, the end part of the strut 83 is positioned between two disinfection boxes 3, and when the strut 83 is in the supporting position, the top end of the strut 83 is connected with the free end of the three-head bracket 7;

In the above structure, the supporting member 8 is provided with a fixed positioning frame 81, the positioning frame 81 is connected and fixed with the operating table, and is rotatably connected with a swing arm 82, and the end part of the swing arm 82 is provided with a strut 83;

In this way, when in use, the swing arm 82 swings the support 83 to move the support 83 between the support position and the storage position;

As shown in fig. 9 to 11, the supporting column 83 is located at a supporting position, and at this time, the top end of the supporting column 83 is connected with the free end of the tripod 7, so as to support the tripod 7, and further support the turnover mechanism 1, so as to eliminate the influence of the weight of the load manipulator 2 and the water supply assembly 6, and further prevent the structural accuracy of the turnover mechanism 1 from being affected;

As shown in fig. 5-8, the structure of the support 83 at the storage position is shown, at this time, the end of the support 83 is located between two sterilizing boxes 3, and then the manipulator 2 is stored by the turnover mechanism 1, so that the two are not interfered with each other, and the structure is compact, and the space is fully utilized.

In some embodiments, the support 83 is a telescopic column, the bottom end of the support 83 contacts the ground through a moving wheel, the top end is provided with a pressure sensor, after the top surface of the support 83 is propped against the free end of the three-head support 7, the pressure value is within the normal threshold range, and the support 83 and the three-head support 7 are locked, so that the influence of the excessive top of the support 83 on the working accuracy of the manipulator 2 can be prevented.

The osteotomy robot further comprises a lifting table 9 and a bed plate 10, wherein the bed plate 10 is arranged on the lifting table 9;

In the above structure, the lifting table 9 and the bed plate 10 are components of the operating table, and the turnover mechanism 1 and the sterilizing box 3 are mounted on the bottom surface of the bed plate 10.

As shown in fig. 5, when the manipulator 2 is in the storage position, the water supply assembly 6 is positioned between the turnover mechanism 1, the lifting table 9 and the two sterilizing boxes 3, and when the support 83 is in the storage position, the end part of the support 83 is positioned between the two sterilizing boxes 3, the water supply assembly 6 and the lifting table 9;

In the structure, the osteotomy robot realizes integration with an operating table, forms an integrated osteotomy platform, is more compact in overall structure, can store all parts, has regular appearance when not applied, does not occupy space, and is suitable for the operation of osteotomy and other operations.

Further, the housing, the box 31, the positioning frame 81, the lifting table 9 and the bed board 10 of the linear module 11 are arranged as an integrated structure;

As the above structure, since the turnover mechanism 1 drives the manipulator 2 to move, and the manipulator 2 can be stored through the sterilizing box 3, the three-head bracket 7 for connecting the turnover mechanism 1 and the manipulator 2 also needs to be supported through the supporting piece 8, which requires higher matching precision, the above components are integrated into an integral structure, so that other components can be well matched after being installed.

The specific implementation steps are as follows;

Firstly, opening a box cover 32 of the sterilizing box 3, then, enabling a double-shaft motor 12 of the turnover mechanism 1 to act, turning over the manipulator 2, and then, unfolding the manipulator 2;

Then the swing arm 82 of the supporting piece 8 is unfolded, so that the support 83 is propped against the free end of the three-head bracket 7, and the manipulator 2 and the turnover mechanism 1 are effectively supported;

The water tank 63 of the water supply assembly 6 is used for storing cleaning liquid, one of the two manipulators 2 is provided with a laser cutting head for bone cutting operation, the other manipulator 2 is used for installing a light supplementing lamp or a water spraying mechanism, and when the water spraying mechanism is installed, the water tank 63 is connected through a pump so as to spray water to clean a wound, so that the laser cutting head is matched with the work;

After the laser osteotomy is finished, the manipulator 2 is primarily cleaned, the water tank 63 is removed, the supporting piece 8 is reset, the manipulator 2 is self-reset and is in a furled state, and then the turnover mechanism 1 drives the manipulator to enter the box body 31 of the disinfection box 3;

finally, the cover 32 is closed, and the ultraviolet lamp 42 of the sterilizing device 4 is used for sterilizing.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims

1. A multi-degree-of-freedom bone cutting mechanism is characterized by comprising a turnover mechanism (1), a manipulator (2), a sterilizing box (3) and a sterilizing device (4), wherein,

The movable end of the turnover mechanism (1) is connected with the manipulator (2), and the turnover mechanism (1) is used for driving the manipulator (2) to turn over by one hundred and eighty degrees so as to enable the manipulator (2) to be in an osteotomy position or a storage position;

The disinfection box (3) comprises a box body (31) which is relatively fixed with the turnover mechanism (1) and a box cover (32) which can be relatively opened and closed with the box body (31);

the sterilizing device (4) is arranged in the box body (31), and the sterilizing device (4) is a gas sterilizing device or an ultraviolet sterilizing device;

The turnover mechanism (1) and the disinfection box (3) are connected with an operating table;

When the manipulator (2) is in the storage position, the manipulator (2) is positioned in the box cover (32);

The turnover mechanism (1) comprises a linear module (11), a double-shaft motor (12) and connecting arms (13), wherein the linear module (11) is relatively fixed with the disinfection box (3), the double-shaft motor (12) is arranged on the movable end of the linear module (11), the output end of the double-shaft motor (12) is connected with the two connecting arms (13), one manipulator (2) is arranged on each of the two connecting arms (13), a laser cutting head is arranged at the movable end of one manipulator (2), a light supplementing lamp is arranged at the movable end of the other manipulator (2), and the disinfection box (3) is provided with two corresponding manipulators (2).

2. The multiple degree of freedom osteotomy mechanism of claim 1, wherein the sterilization device (4) comprises an end plate (41), an ultraviolet lamp (42), a quartz spiral tube (43), a tube sleeve (44) and an axial fan (45), wherein,

Two end plates (41) are oppositely arranged;

Both ends of the ultraviolet lamp (42) are respectively connected with one end plate (41);

the two ends of the quartz spiral tube (43) are respectively connected with one end plate (41), a plurality of quartz spiral tubes (43) are arranged around the ultraviolet lamp (42), and the quartz spiral tube (43) is communicated with the space of the two end plates (41) in the opposite and far direction;

The pipe sleeves (44) are sleeved on the two end plates (41) to seal the ultraviolet lamp (42) and the quartz spiral pipes (43), the pipe sleeves (44) are provided with windows (401) corresponding to the two adjacent quartz spiral pipes (43), and quartz glass is arranged in the windows (401);

the axial flow fan (45) is disposed in one end of the shroud (44).

3. The multiple degree of freedom osteotomy mechanism of claim 2, further comprising a retainer (5), wherein the sterilization device (4) further comprises a pod (46), wherein,

The air guide sleeve (46) is arranged at one end of the pipe sleeve (44) away from the axial flow fan (45), the air guide sleeve (46) is made of plastic materials, and a plurality of cutting grooves (402) are formed in the air guide sleeve (46);

the retainer (5) is arranged in the box body (31), two disinfection devices (4) are arranged on the retainer (5), and the two disinfection devices (4) are provided with the end parts of the axial flow fans (45) relatively far away;

The slots (402) of the two fairings (46) are staggered in the circumferential direction of the shroud (44).

4. The multiple degree of freedom osteotomy mechanism of claim 3, further comprising a water supply assembly (6), wherein the water supply assembly (6) comprises a carrier (61), a platen (62), a water tank (63), a sealing ring (64) and a screw (65), wherein,

The carrier (61) is connected with the two connecting arms (13);

The bedplate (62) is arranged on the carrier (61), and the bedplate (62) is provided with a through hole (601);

The water tank (63) is arranged on the carrier (61), and the top surface of the water tank (63) is open;

the sealing ring (64) is arranged on the bottom surface of the bedplate (62) and corresponds to the edge of the top surface opening of the water tank (63);

The screw rod (65) is connected with the carrier (61) through threads, and one end of the screw rod (65) abuts against the bottom surface of the water tank (63);

When the manipulator (2) is in the storage position, the water supply assembly (6) is positioned between the two disinfection devices (4).

5. The multi-degree of freedom osteotomy mechanism of claim 4, wherein the carriage (61) comprises a connecting plate (611) and a support plate (612), the end of the water tank (63) being provided with a locating plate (631), wherein,

The connecting plate (611) is connected with the two connecting arms (13);

Two support plates (612) are arranged on the connecting plate (611) in parallel;

the platen (62) is disposed on the support plate (612);

the locating plate (631) is in sliding fit with the two support plates (612).

6. The multi-degree of freedom osteotomy mechanism of claim 5, further comprising a tripod (7) and a support member (8), the support member (8) comprising a spacer (81), a swing arm (82) and a post (83), wherein,

One end of the three-head bracket (7) is connected with the connecting arm (13), one end of the three-head bracket is connected with the manipulator (2), and the other end of the three-head bracket is a free end;

the positioning frame (81) is fixed relative to the turnover mechanism (1);

one end of the swing arm (82) is rotationally connected with the positioning frame (81), and the support column (83) is arranged at the other end of the swing arm (82);

the swing arm (82) is used for driving the support column (83) to move between a supporting position and a containing position;

When the support column (83) is in the storage position, the end part of the support column (83) is positioned between the two disinfection boxes (3);

When the support column (83) is in the supporting position, the top end of the support column (83) is connected with the free end of the three-head support (7).

7. The osteotomy robot comprises the multi-degree-of-freedom osteotomy mechanism as claimed in claim 6, and is characterized by further comprising a lifting table (9) and a bed plate (10), wherein,

The bed plate (10) is arranged on the lifting table (9);

The turnover mechanism (1) and the disinfection box (3) are arranged on the bottom surface of the bed board (10);

when the manipulator (2) is in the storage position, the water supply assembly (6) is positioned between the turnover mechanism (1), the lifting table (9) and the two disinfection boxes (3);

when the support column (83) is in the storage position, the end parts of the support column (83) are positioned between the two disinfection boxes (3), the water supply assembly (6) and the lifting table (9).

8. The osteotomy robot of claim 7, wherein the housing of the linear module (11), the box (31), the positioning frame (81), the lifting table (9) and the bed plate (10) are provided as an integral structure.

9. An osteotomy robot comprising the multi-degree-of-freedom osteotomy mechanism as claimed in any one of claims 1 to 6, characterized by further comprising a lifting table (9) and a bed plate (10), wherein,

The bed plate (10) is arranged on the lifting table (9);

the turnover mechanism (1) and the disinfection box (3) are arranged on the bottom surface of the bed board (10).