An otoneurosurgical bone milling robot

Abstract

The utility model discloses an ear neurosurgery bone grinding robot, including mechanical arm device and bone grinding execution device, the mechanical arm device includes the base that sets from below to top in proper order, X axle moving mechanism, Y axle moving mechanism and Z axle moving mechanism, the bone grinding execution device includes X axle rotating mechanism, Z axle rotating mechanism and drill head mechanism, wherein X axle rotating mechanism installs on above -mentioned Z axle moving mechanism, Z axle rotating mechanism is connected with X axle rotating mechanism through C type elbow pipe, drill head mechanism is connected with above -mentioned Z axle rotating mechanism through the connecting plate. The utility model structure is compact, satisfies five direction's removal freedom degree, can nimble accurate reach required operation position of operation, effectively solved traditional ear neurosurgery operation in the bone grinding operation precision deficiency, operation risk is high and to the doctor operation experience dependence degree big etc. problem, improved the quality and efficiency of ear neurosurgery operation, is applicable to all kinds of ear neurosurgery bone grinding operation scene.

Description

Technical Field

[0001] This utility model relates to the field of otoneurosurgery, specifically to an otoneurosurgery bone-grinding robot. Background Technology

[0002] Otolaryngology is an image-guided surgical procedure. The usual approach is to completely or partially remove the stapes. Until recently, this has changed to drilling a small hole in the foot plate at one-third of the way down, removing the stapes, and then inserting an artificial stapes, which is usually made of tissue or inorganic materials from other parts of the body.

[0003] Microscopic assistance is essential for stapes resection surgery. Because the inner ear's protective tissues are very thin, a failed operation may mean the patient loses the opportunity for a second surgery. Furthermore, human surgeons often lack the precision required for stapes resection. Therefore, the use of minimally invasive robots for this procedure is highly necessary. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of the existing technology and provide an otosurgical bone-grinding robot.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: an otosurgical bone-grinding robot, comprising a robotic arm device and a bone-grinding execution device, wherein the robotic arm device includes a base, an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism, wherein the X-axis moving mechanism is disposed on the top of the base, the Y-axis moving mechanism is disposed on the top of the X-axis moving mechanism, and the Z-axis moving mechanism is disposed on the top of the Y-axis moving mechanism; the bone-grinding execution device includes an X-axis rotating mechanism, a Z-axis rotating mechanism, and a drill bit mechanism, wherein the X-axis rotating mechanism is mounted on the Z-axis moving mechanism, the Z-axis rotating mechanism is connected to the X-axis rotating mechanism through a C-shaped bend, and the drill bit mechanism is connected to the Z-axis rotating mechanism through a connecting plate.

[0006] Furthermore, the X-axis moving mechanism includes a first geared motor, a synchronous belt drive mechanism, a first ball screw, a first slide rail, and an X-axis moving platform. The synchronous belt drive mechanism includes a small pulley, a large pulley, and a matching synchronous belt. The first geared motor is fixedly mounted on the top of the base via a first motor mount, and the small pulley is coaxially fixedly mounted on its output shaft. The first slide rail has two parallel sections, fixed at intervals on the top of the base, and parallel to the output shaft of the first geared motor. A first slider adapted to the first slide rail is fixedly mounted on the bottom of the X-axis moving platform, and is slidably mounted on the first slide rail via the first slider. The screw of the first ball screw is rotatably mounted on the top of the base, and a large pulley is coaxially fixedly mounted on one end of the first ball screw. The large pulley and the small pulley are connected by a synchronous belt drive. The nut of the first ball screw is fixedly mounted to the bottom of the X-axis moving platform.

[0007] Furthermore, the Y-axis moving mechanism includes a second reduction motor, a second ball screw, a second slide rail, and a Y-axis moving platform. The second slide rail consists of two parallel sections, fixed at intervals at the top of the X-axis moving platform and parallel to the Y-axis. A second slider, adapted to the second slide rail, is fixedly installed at the bottom of the Y-axis moving platform, and is slidably mounted on the second slide rail via the second slider. The screw in the second ball screw is rotatably mounted on the top of the X-axis moving platform via a bearing seat. The second reduction motor is fixedly mounted on the X-axis moving platform via a motor bracket, and its output end is connected to one end of the screw in the second ball screw via a first coupling. The nut in the second ball screw is fixedly installed at the bottom of the Y-axis moving platform.

[0008] Furthermore, the Z-axis moving mechanism includes a Z-axis bracket, a third reduction motor, a third ball screw, a third slide rail, and a Z-axis moving slider. The Z-axis bracket is vertically fixedly installed on the top surface of the Y-axis moving platform, and the third slide rail is fixedly installed on one side of the Z-axis bracket. The screw of the third ball screw is vertically rotatably mounted on the Z-axis bracket via a bearing seat. The third reduction motor is fixedly installed on the top of the Z-axis bracket, and its output shaft is connected to the upper end of the screw of the third ball screw via a second coupling. The nut of the third ball screw is fixedly installed to the Z-axis moving slider, and the Z-axis moving slider is slidably mounted on the aforementioned third slide rail.

[0009] Furthermore, the X-axis rotation mechanism includes a fourth reduction motor, a first connecting shaft, and a spherical connecting block. The fourth reduction motor is fixedly mounted on the Z-axis moving slider via a motor base, and its output shaft is connected to the first connecting shaft via a third coupling. The first connecting shaft is rotatably mounted on the Z-axis moving slider via a bearing seat, and its other end is fixedly connected to the spherical connecting block. The aforementioned C-shaped bend is fixedly mounted on the spherical connecting block, and the end of the C-shaped bend is at a 90° angle to the first connecting shaft.

[0010] Furthermore, the Z-axis rotation mechanism includes a fifth reduction motor and a second connecting shaft. The fifth reduction motor is fixedly mounted on the other end of the C-shaped bend via a motor mount, and its output shaft is connected to the second connecting shaft via a fourth coupling. The other end of the second connecting shaft is fixedly mounted with the connecting plate.

[0011] Furthermore, the drill bit mechanism includes a sixth reduction motor, a drill bit housing, angular contact ball bearings, a drill bit shaft, a drill bit tightening housing, and a drill bit. The sixth reduction motor is fixedly installed on the outer side of the movable end of the connecting plate, and its output shaft is connected to one end of the drill bit shaft via a fifth coupling. The drill bit shaft is stepped, and a pair of angular contact ball bearings are respectively installed on the corresponding stepped shafts of the drill bit shaft. The drill bit housing is fixedly installed on the inner side of the movable end of the connecting plate, located outside the fifth coupling, the drill bit shaft, and the pair of angular contact ball bearings, and a drill bit bearing cap is fixedly installed on its other end. The drill bit is connected to the outer end of the drill bit shaft via the drill bit tightening housing.

[0012] Furthermore, the drill bit tightening shell has internal threads, and the drill bit can be detachably fixed to the drill bit tightening shell.

[0013] Furthermore, the rotation centers of the drill bit mechanism, the X-axis rotation mechanism, and the Z-axis rotation mechanism intersect at the same point.

[0014] Furthermore, the connecting plate has a two-section bent structure with obtuse angles at both bends.

[0015] Compared with the prior art, this utility model has the following beneficial effects: This utility model has a simple and compact structure and good stability. It can satisfy three degrees of freedom of movement in the X, Y, and Z axes, and also adds the fourth and fifth degrees of freedom of rotation in the X and Z axes. It can flexibly and accurately perform positioning and posture adjustment within the otosurgical area, ensuring that the bone grinding device can reach the required operating position. It effectively solves the problems of insufficient precision, high surgical risk, and high dependence on the doctor's operating experience in traditional otosurgical bone grinding. It improves the quality and efficiency of otosurgical surgery, is applicable to various otosurgical bone grinding scenarios, and provides strong technical support for the minimally invasive and precise development of otosurgical surgery. It has broad clinical application prospects. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a top view of the overall structure of this utility model;

[0019] Figure 3 This is a front view of the overall structure of this utility model;

[0020] Figure 4 This is a right view of the overall structure of this utility model;

[0021] Figure 5 for Figure 3 Enlarged view of section A (sectional view showing the drill bit mechanism);

[0022] Figure 6 for Figure 3 Enlarged view of section B;

[0023] In the diagram: 1. Base, 2. X-axis moving mechanism, 3. Y-axis moving mechanism, 4. Z-axis moving mechanism, 5. X-axis rotating mechanism, 6. Z-axis rotating mechanism, 7. Drill bit mechanism, 8. C-shaped bend, 9. Connecting plate;

[0024] 21. First geared motor; 22. First motor base; 23. Small pulley; 24. First ball screw; 25. First bearing housing; 26. Large pulley; 27. Synchronous belt; 28. First slide rail; 29. ​​X-axis moving platform.

[0025] 31. Second geared motor; 32. Motor bracket; 33. First coupling; 34. Second ball screw; 35. Second bearing housing; 36. Second slide rail; 37. Y-axis moving platform.

[0026] 41. Z-axis support; 42. Third geared motor; 43. Second coupling; 44. Third ball screw; 45. Third bearing housing; 46. Third slide rail; 47. Z-axis moving slider.

[0027] 51. Fourth geared motor; 52. Motor base; 53. Third coupling; 54. First connecting shaft; 55. Fourth bearing housing; 56. Spherical connecting block;

[0028] 61. Fifth geared motor; 62. Second motor mount; 63. Fourth coupling; 64. Second connecting shaft;

[0029] 71. Sixth geared motor; 72. Fifth coupling; 73. Drill bit shaft; 74. Angular contact ball bearing; 75. Drill bit housing; 76. Drill bit bearing cap; 77. Drill bit tightening housing; 78. Drill bit. Detailed Implementation

[0030] It should be noted that in the description of this utility model, terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "one end", and "the other end" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are only used to facilitate the description of the structural relationship between the components in this utility model and do not specifically mean that any component in this utility model must have a specific orientation, be constructed and operated in a specific orientation, or be construed as a limitation on this utility model.

[0031] Furthermore, in utility models, descriptions such as "first" and "second" are for descriptive purposes only and do not specifically refer to any order or sequence, nor are they intended to limit the utility model. They are merely used to distinguish components or operations described with the same technical terms and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0032] It should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings:

[0034] like Figures 1 to 4 As shown, an otosurgical bone-grinding robot includes a robotic arm and a bone-grinding execution device. The robotic arm includes a base 1, an X-axis moving mechanism 2, a Y-axis moving mechanism 3, and a Z-axis moving mechanism 4. The X-axis moving mechanism 2 is located on top of the base 1, the Y-axis moving mechanism 3 is located on top of the X-axis moving mechanism 2, and the Z-axis moving mechanism 4 is located on top of the Y-axis moving mechanism 3. The bone-grinding execution device includes an X-axis rotating mechanism 5, a Z-axis rotating mechanism 6, and a drill mechanism 7. The X-axis rotating mechanism 5 is mounted on the Z-axis moving mechanism 4. The Z-axis rotating mechanism 6 is connected to the X-axis rotating mechanism 5 via a C-shaped bend 8. The drill mechanism 7 is connected to the Z-axis rotating mechanism 6 via a connecting plate 9.

[0035] Specifically, the aforementioned X-axis moving mechanism 2 includes a first reduction motor 21, a synchronous belt drive mechanism, a first ball screw 24, a first slide rail 28, and an X-axis moving platform 29. The synchronous belt drive mechanism further includes a small pulley 23, a large pulley 26, and a synchronous belt 27 adapted to both. The first reduction motor 21 is fixedly mounted on the top of the base 1 via a first motor mount 22, and the small pulley 23 is coaxially fixedly mounted on the outer end of its output shaft. The first ball screw 24 is rotatably mounted on the top of the base 1 via two first bearing seats 25, located beside the first reduction motor 21 and parallel to the central axis of the output shaft of the first reduction motor 21. The large pulley 26 is coaxially fixedly mounted on the right end of its screw, and the large pulley 26 is connected to the small pulley 23 via the synchronous belt 27. Two first slide rails 28 are provided, arranged parallel to each other on the base. The top of seat 1 is located on the front and rear sides of the first reduction motor 21 and the first ball screw 24, respectively, at the same height and parallel to the central axis of the first ball screw 24; an X-axis moving platform 29 is slidably mounted above the two first slide rails 28, and the bottom of the X-axis moving platform 29 is provided with a first slider that is adapted to the first slide rails 28. The nut in the first ball screw 24 is fixedly connected to the bottom of the X-axis moving platform 29. The X-axis moving platform 29 is driven by the first reduction motor 21 to move left and right (i.e., in the X-axis direction) along the first ball screw 24, and has the first degree of freedom.

[0036] The aforementioned Y-axis moving mechanism 3 includes a second reduction motor 31, a second ball screw 34, a second slide rail 36, and a Y-axis moving platform 37. The second ball screw 34 rotates via two second bearing seats 35 and is mounted parallel to the top surface of the X-axis moving platform 29, its orientation being perpendicular to the first ball screw 24. The second slide rail 36 has two parallel rails, fixed at intervals to the top of the X-axis moving platform 29, parallel to the second ball screw 34, and symmetrically located on its left and right sides. The second reduction motor 31 is mounted via a motor bracket 3. 2 is fixed on the X-axis moving platform 29, and its output shaft is connected to one end of the screw in the second ball screw 34 through the first coupling 33; the Y-axis moving platform 37 is slidably mounted on the second slide rail 36, and the bottom of the Y-axis moving platform 37 is provided with a second slider that is adapted to the second slide rail 36. The nut in the second ball screw 34 is fixedly mounted on the bottom of the Y-axis moving platform 37. The rotation of the second reduction motor 31 drives the Y-axis moving platform 37 to reciprocate along the second ball screw 34 (i.e., the Y-axis direction), and it has a second degree of freedom.

[0037] The aforementioned Z-axis moving mechanism 4 includes a Z-axis bracket 41, a third reduction motor 42, a third ball screw 44, a third slide rail 46, and a Z-axis moving slider 47. The Z-axis bracket 41 is vertically fixed to the top surface of the aforementioned Y-axis moving platform 37 by bolts, and its back side is also fixed with relatively vertical reinforcing ribs. The third ball screw 44 is vertically rotatably mounted on the front side of the Z-axis bracket 41 via two third bearing seats 45. The third reduction motor 42 is fixedly mounted on the top of the Z-axis bracket 41, and its output shaft is connected via a second coupling. 43 is connected to the upper end of the screw in the third ball screw 44; the third slide rail 46 has two relatively parallel rails, which are fixedly installed on the front side of the Z-axis bracket, located on the left and right sides of the third ball screw 44, and are arranged parallel to it; the Z-axis moving slider 47 is slidably installed on the third slide rail 46, and the nut in the third ball screw 44 is fixedly connected to the Z-axis moving slider 47. The rotation of the third reduction motor 42 drives the Z-axis moving slider 47 to slide up and down along the third ball screw 44 (i.e., the Z-axis direction), which has a third degree of freedom.

[0038] Combination Figure 6 As shown, the X-axis rotation mechanism 5 includes a fourth reduction motor 51, a first connecting shaft 54, and a spherical connecting block 56. The fourth reduction motor 51 is fixedly mounted on the Z-axis moving slider 47 via a motor base 52, and its output shaft is coaxially connected to the first connecting shaft 54 ​​via a third coupling 53. The first connecting shaft 54 ​​is rotatably mounted on the Z-axis moving slider 47 via a fourth bearing seat 55, and its orientation is parallel to the first ball screw 24. The other end of the first connecting shaft 54 ​​is fixedly connected to the spherical connecting block 56 via a nut. The lower end of the C-shaped bend 8 is fixedly mounted on the spherical connecting block 56 via matching bolts and nuts, and the lower end of the C-shaped bend 8 is at a 90° angle to the first connecting shaft 54, so that the C-shaped bend 8 can rotate around the axis of the fourth reduction motor 51, thus having a fourth degree of freedom.

[0039] Combination Figure 5 As shown, the Z-axis rotation mechanism 6 includes a fifth reduction motor 61 and a second connecting shaft 64. The fifth reduction motor 61 is fixedly installed on the other end of the C-shaped bend 8 via a second motor base 62, and the two are connected by a set screw. The output shaft end of the fifth reduction motor 61 is coaxially connected to the upper end of the second connecting shaft 64 via a fourth coupling 63. The lower end of the second connecting shaft 64 is provided with an external thread, passes downward through the upper end of the connecting plate 9, and is fixed by a nut, so that the connecting plate 9 can rotate around the axis of the fifth reduction motor 61, thus having a fifth degree of freedom.

[0040] The connecting plate 9 has a two-section bending structure, and the two bends are obtuse angle structures that bend downwards.

[0041] The aforementioned drill bit mechanism 7 is installed on the lower bent section of the aforementioned connecting plate 9, and includes a sixth reduction motor 71, a drill bit housing 75, a drill bit shaft 73, angular contact ball bearings 74, a drill bit tightening housing 77, and a drill bit 78. The sixth reduction motor 71 is fixedly installed on the outer side of the movable end of the connecting plate 9, and its output shaft is coaxially connected to the upper end of the drill bit shaft 73 via a fifth coupling 72. The drill bit shaft 73 is stepped, and a pair of angular contact ball bearings 74 are respectively fitted onto the corresponding sections of the drill bit shaft 73. The drill bit housing 75 is bolted to the inner side of the movable end of the connecting plate 9, located outside the fifth coupling 72, the drill bit shaft 73, and a pair of angular contact ball bearings 74. The other end of the drill bit housing 75 is bolted to a drill bit bearing cover 76. The drill bit 78 is connected to the lower end of the drill bit shaft 73 through a drill bit tightening shell 77. The drill bit tightening shell 77 is also threaded inside, which can realize the disassembly and fixing of the drill bit 78 and the drill bit tightening shell 77.

[0042] Furthermore, the rotation centers of the drill bit mechanism 7, the X-axis rotation mechanism 5, and the Z-axis rotation mechanism 6 intersect at the same point.

[0043] The aforementioned otosurgical bone-grinding robot is mainly used for stapes resection in otosurgical procedures. In practice, the surgical site needs to be placed at the aforementioned rotation center point. By controlling the various moving mechanisms, rotating mechanisms, and drill mechanisms, the robot can safely reach the surgical position from multiple directions and angles to perform the surgical operation.

[0044] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. An otosurgical bone-grinding robot, characterized in that: The device includes a robotic arm and a bone-grinding execution device. The robotic arm includes a base, an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism. The X-axis moving mechanism is located on top of the base, the Y-axis moving mechanism is located on top of the X-axis moving mechanism, and the Z-axis moving mechanism is located on top of the Y-axis moving mechanism. The bone-grinding execution device includes an X-axis rotating mechanism, a Z-axis rotating mechanism, and a drill bit mechanism. The X-axis rotating mechanism is mounted on the Z-axis moving mechanism and is connected to the X-axis rotating mechanism via a C-shaped bend. The drill bit mechanism is connected to the Z-axis rotating mechanism via a connecting plate.

2. The otosurgical bone-grinding robot according to claim 1, characterized in that: The X-axis moving mechanism includes a first geared motor, a synchronous belt drive mechanism, a first ball screw, a first slide rail, and an X-axis moving platform. The synchronous belt drive mechanism includes a small pulley, a large pulley, and a matching synchronous belt. The first geared motor is fixedly mounted on the top of the base via a first motor mount, and the small pulley is coaxially fixedly mounted on its output shaft. The first slide rail has two parallel sections, fixed at intervals on the top of the base, and parallel to the output shaft of the first geared motor. A first slider adapted to the first slide rail is fixedly mounted on the bottom of the X-axis moving platform, and is slidably mounted on the first slide rail via the first slider. The screw of the first ball screw is rotatably mounted on the top of the base, and a large pulley is coaxially fixedly mounted on one end of the first ball screw. The large pulley and the small pulley are connected by a synchronous belt drive. The nut of the first ball screw is fixedly mounted to the bottom of the X-axis moving platform.

3. The otosurgical bone-grinding robot according to claim 2, characterized in that: The Y-axis moving mechanism includes a second geared motor, a second ball screw, a second slide rail, and a Y-axis moving platform. The second slide rail consists of two parallel sections, fixed at intervals at the top of the X-axis moving platform and parallel to the Y-axis. A second slider, adapted to the second slide rail, is fixedly mounted at the bottom of the Y-axis moving platform, and is slidably mounted on the second slide rail via the second slider. The screw of the second ball screw is rotatably mounted on the top of the X-axis moving platform via a bearing seat. The second geared motor is fixedly mounted on the X-axis moving platform via a motor bracket, and its output end is connected to one end of the screw of the second ball screw via a first coupling. The nut of the second ball screw is fixedly mounted to the bottom of the Y-axis moving platform.

4. The otosurgical bone-grinding robot according to claim 3, characterized in that: The Z-axis moving mechanism includes a Z-axis bracket, a third reduction motor, a third ball screw, a third slide rail, and a Z-axis moving slider. The Z-axis bracket is vertically fixed to the top surface of the Y-axis moving platform, and the third slide rail is fixed to one side of the Z-axis bracket. The screw of the third ball screw is vertically rotatably mounted on the Z-axis bracket via a bearing seat. The third reduction motor is fixedly mounted to the top of the Z-axis bracket, and its output shaft is connected to the upper end of the screw of the third ball screw via a second coupling. The nut of the third ball screw is fixedly mounted to the Z-axis moving slider, and the Z-axis moving slider is slidably mounted on the third slide rail.

5. The otosurgical bone-grinding robot according to claim 4, characterized in that: The X-axis rotation mechanism includes a fourth reduction motor, a first connecting shaft, and a spherical connecting block. The fourth reduction motor is fixedly mounted on the Z-axis moving slider via a motor base. Its output shaft is connected to the first connecting shaft via a third coupling. The first connecting shaft is rotatably mounted on the Z-axis moving slider via a bearing seat. Its other end is fixedly connected to the spherical connecting block. The aforementioned C-shaped bend is fixedly mounted on the spherical connecting block. The end of the C-shaped bend is at a 90° angle to the first connecting shaft.

6. The otosurgical bone-grinding robot according to claim 5, characterized in that: The Z-axis rotation mechanism includes a fifth reduction motor and a second connecting shaft. The fifth reduction motor is fixedly installed on the other end of the C-shaped bend via a motor mount. Its output shaft is connected to the second connecting shaft via a fourth coupling. The other end of the second connecting shaft is fixedly installed with the connecting plate.

7. The otorhinolaryngological bone-grinding robot according to claim 6, characterized in that: The drill bit mechanism includes a sixth reduction motor, a drill bit housing, angular contact ball bearings, a drill bit shaft, a drill bit tightening housing, and a drill bit. The sixth reduction motor is fixedly installed on the outer side of the movable end of the connecting plate, and its output shaft is connected to one end of the drill bit shaft via a fifth coupling. The drill bit shaft is stepped, and a pair of angular contact ball bearings are respectively installed on the corresponding stepped shafts of the drill bit shaft. The drill bit housing is fixedly installed on the inner side of the movable end of the connecting plate, located outside the fifth coupling, the drill bit shaft, and the pair of angular contact ball bearings, and a drill bit bearing cap is fixedly installed on its other end. The drill bit is connected to the outer end of the drill bit shaft via the drill bit tightening housing.

8. The otosurgical bone-grinding robot according to claim 7, characterized in that: The drill bit tightening shell has internal threads, and the drill bit can be detachably fixed to the drill bit tightening shell.

9. The otosurgical bone-grinding robot according to claim 7, characterized in that: The rotation centers of the drill bit mechanism, the X-axis rotation mechanism, and the Z-axis rotation mechanism intersect at the same point.

10. The otosurgical bone-grinding robot according to claim 1, characterized in that: The connecting plate has a two-section bent structure with obtuse angles at both bends.

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