Robot bone drill

Abstract

The present invention relates to a robotic bone drill, which comprises an inner shell (1), a motor (2), a drill bit (3), a transmission assembly (4), a switching assembly (5) and a control assembly. The transmission assembly (4) includes a central shaft (41), a drill bit gear (42) and a driven gear (43) arranged on the central shaft (41). The transmission assembly (4) further includes a sensor (44) sleeved on the central shaft (41) and fixedly connected to the drill bit gear (42) and the driven gear (43). The present invention can monitor the operating state of the robotic bone drill in real time, thereby improving the safety of surgical drilling operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a woodpecker-type intelligent electric hammer robot bone drill. Background Art

[0002] The bone drilling operation in orthopedic surgery is mainly completed by a medical bone drill. There are two types of bone drills in the prior art - hand-held bone drills and robot bone drills. Hand-held bone drills are generally similar in structure. Some intelligent bone drills are embedded with different sensors (torque sensors, rotational speed sensors, pressure sensors, etc.) to monitor multiple momentum parameters (torque, rotational speed, pressure) of the bone drill, which can improve the functional diversity of the bone drill to a certain extent. Most of the currently used bone drills are hand-held devices, and their operating control parameters such as spatial positioning, positioning accuracy, and needle insertion depth rely on the personal experience of medical staff. When used for a long time, it will consume a large amount of energy of medical staff. Robot bone drills are equipped with a propulsion mechanism and an external communication interface on this basis, realizing the functions of automatic propulsion of the bone drill and communication with the robot. However, most bone drills only have the function of driving the drill bit to rotate and do not have the function of driving the drill bit to hammer. Thus, when the bone surface is relatively smooth, the bone is relatively thin, or the drill bit (K-wire) used is relatively soft, a needle slipping phenomenon often occurs, causing the actual drilling position to deviate from the pre-planned position, resulting in a large operation error and introducing some unnecessary troubles for orthopedic drilling.

[0003] In mechanical drilling operations, the principle of using a center punch to make a center punch mark to improve the drilling operation accuracy is often utilized. Therefore, in orthopedic drilling operations, the operation method of first using a drill bit (or center punch) to make a center punch mark and then drilling can also be adopted to improve the drilling accuracy. However, since the specific drilling situation cannot be directly observed in orthopedic operations, the coincidence degree between the center punch mark and the actual orthopedic drill bit cannot be directly judged. If other equipment is used to complete the center punch mark operation and then the bone drill is switched to drill, it may introduce manual errors due to a series of operations from making the center punch mark to orthopedic drilling, resulting in a problem of reduced actual operation effect. Therefore, some technologies also adopt a scheme of combining "hammering" and "drilling", such as an electric hammer structure disclosed in Patent CN105058327A, the structure of which can be seen in Figure 5 ., and this electric hammer can complete both the functions of "drilling" and "hammering". However, this scheme does not have the function of monitoring the operating parameters of the bone drill.

[0004] Since safety is the top priority in orthopedic operations, excessive hammering force may cause bone damage, thereby causing additional harm to patients; if the hammering force is too small, the effective function of hammer hole positioning cannot be achieved. It can be seen that compared with other orthopedic drills, the existing electric hammer structure has an additional hammering function, but its hammering cannot be effectively monitored. Therefore, it is necessary to design an orthopedic drill that at least has two functions of hammering and rotation and can monitor the hammering force and motor speed. However, this kind of electric hammer with both hammering and drilling functions has a complex structure and more power transmission. Therefore, how to set up an effective monitoring device on this kind of electric hammer is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems and provide a robotic bone drill.

[0006] To achieve the above invention purpose, the present invention provides a robotic bone drill, including an inner shell, a motor, a drill bit, a transmission assembly, a switching assembly and a control assembly. The transmission assembly includes a central shaft and a drill bit gear and a driven gear arranged on the central shaft. The transmission assembly further includes a sensor sleeved on the central shaft and fixedly connected to the drill bit gear and the driven gear.

[0007] According to one aspect of the present invention, the sensor is a torque sensor, fixedly connected to the drill bit gear and the driven gear through fixing pins, and the fixing pins are arranged at intervals in the circumferential direction.

[0008] According to one aspect of the present invention, the center of the torque sensor has a through hole for the central shaft to pass through, and there is a gap between the through hole and the central shaft.

[0009] According to one aspect of the present invention, the control assembly includes a circuit board and a control panel, and the control panel is connected to the circuit board.

[0010] According to one aspect of the present invention, the circuit board is connected to the sensor, and the parameters fed back by the sensor can be displayed on the control panel.

[0011] According to one aspect of the present invention, the circuit board is connected to the motor, and the motor can be controlled according to the parameters input by the user through the control panel.

[0012] According to one aspect of the present invention, a ram gear, a connecting gear and a sleeve are further arranged on the central shaft. The ram gear and the drill bit gear are respectively located on both sides of the connecting gear, and the sleeve is sleeved and meshed on the outside of the connecting gear.

[0013] According to one aspect of the present invention, the sleeve can be driven by the switching component to move axially, and can engage with the ram gear and the drill gear during the movement.

[0014] According to one aspect of the present invention, the connecting gear is fixedly connected to the central shaft, and the drill gear, the driven gear and the ram gear are rotatably arranged on the central shaft.

[0015] According to one aspect of the present invention, the rotational speed is between 0 - 30000 rpm, and the torque is between 0 - 2 N·m.

[0016] According to one aspect of the present invention, it further includes a trolley and a robotic arm installed on the trolley, and the control panel is arranged on the trolley;

[0017] The inner shell is installed on the robotic arm, and the circuit board is installed on the inner shell and connected to the trolley or the robotic arm.

[0018] According to one aspect of the present invention, it further includes a C-arm machine for acquiring the spatial position and attitude information of the robotic arm and transmitting it to the trolley.

[0019] According to one aspect of the present invention, it further includes a housing, and the housing includes a sleeve connection seat, a sleeve and a robotic arm connection seat;

[0020] The sleeve is a hollow cylinder and is detachably connected to the sleeve connection seat by a threaded connection;

[0021] An outer housing connection sleeve is threadedly connected to the robotic arm connection seat, and an adjusting threaded ring is externally threadedly connected to the outer housing connection sleeve;

[0022] The adjusting threaded ring can rotate outside the outer housing connection sleeve and can be locked by a fastening bolt;

[0023] The housing is threadedly connected to the robotic arm through the robotic arm connection seat.

[0024] According to one aspect of the present invention, a sliding guide rail and a scale are installed on the outer side of the outer housing connection sleeve;

[0025] The sliding guide rail, the scale, the outer housing connection sleeve and the robotic arm connection seat are fixedly connected;

[0026] A slider is slidably arranged on the sliding guide rail;

[0027] The inner shell is arranged on the robotic arm connection seat by a threaded connection and forms a closed cavity with the robotic arm connection seat;

[0028] It further includes a knob which passes through the mounting hole outside the inner shell and is rotatably arranged on the inner shell;

[0029] The sleeve connector is connected to the slider by a thread, and the slider can slide on the sliding guide rail to drive the sleeve connector to move;

[0030] Two contact terminals and a pointer are fixed on the sleeve connector.

[0031] According to the present invention, there is provided a robotic bone drill that simultaneously has two functions of "hammer" and "drill", thereby avoiding or solving the problem of needle slippage in orthopedic surgeries, reducing the cumbersome equipment replacement operation between center punching and drilling, and improving the operation efficiency and operation accuracy of hole punching operations in orthopedic surgeries.

[0032] According to the concept of the present invention, the conventional double - gear design is cancelled, and a torque sensor is arranged between the drill bit gear and the driven gear, so that the operation of the robotic bone drill can be monitored in real time to improve the safety and reliability of hole punching operations.

[0033] According to one solution of the present invention, a trolley and a robotic arm are provided, and the inner shell of the electric hammer part of the robotic bone drill is connected to the robotic arm. Combining with the spatial positioning function of the robotic arm trolley, the robotic bone drill is organically combined with the robotic arm and the robotic arm trolley, so as to realize the robotic arm trolley controlling the operation parameters of the robotic arm and the robotic bone drill, and achieve accurate spatial positioning and real - time control of operation parameters, further improving the hole punching operation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematically showing the internal structure diagram of a robotic bone drill according to an embodiment of the present invention;

[0035] Figure 2 Schematically showing an enlarged view of the rotational speed and torque monitoring area of a robotic bone drill according to an embodiment of the present invention;

[0036] Figure 3 Schematically showing the schematic diagrams of three working modes of a robotic bone drill according to an embodiment of the present invention;

[0037] Figure 4 Schematically showing the schematic diagram of a robotic bone drill in a working state according to an embodiment of the present invention;

[0038] Figure 5 Schematically showing the structure diagram of a robotic bone drill in the prior art;

[0039] Figure 6 Schematically showing the external schematic diagram of the outer shell of a robotic bone drill according to an embodiment of the present invention;

[0040] Figure 7Internal schematic diagram showing the inside of the housing of a robotic bone drill according to an embodiment of the present invention. Detailed implementation mode

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] When describing the embodiments of the present invention, the orientation or positional relationships expressed by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" are based on the orientation or positional relationships shown in the relevant drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0043] The present invention will be described in detail below in conjunction with the drawings and specific implementation modes. The implementation modes cannot be elaborated one by one here, but the implementation modes of the present invention are not limited to the following implementation modes.

[0044] See Figure 1 , the medical (woodpecker-type) intelligent electric hammer robotic bone drill of the present invention is mainly applied to the bone drilling operation in orthopedic surgery. The robotic bone drill of the present invention includes an inner housing 1 (see Figure 2 ), a motor 2, a drill bit 3, a transmission assembly 4, a switching assembly 5 and a control assembly. The transmission assembly 4 includes a central shaft 41 and a drill bit gear 42 and a driven gear 43 provided on the central shaft 41. According to the concept of the present invention, the transmission assembly 4 further includes a sensor 44 sleeved on the central shaft 41 and fixedly connected to the drill bit gear 42 and the driven gear 43. The sensor 44 is used to detect the output torque and rotational speed of the drill bit 3 in real time. In fact, from this structure, it can be seen that the control of the above parameters is also indirectly achieved by detecting the rotational speed and torque of the motor 2. Thus, the sensor 44 of the present invention realizes the real-time monitoring of the operating parameters of the robotic bone drill, thereby improving the actual application effect of the robotic bone drill itself, making the robotic bone drill have high control precision, multiple functions and strong drilling reliability, thereby improving the safety of the surgical drilling operation and reducing potential safety hazards.

[0045] See Figure 2, the sensor 44 of the present invention is a torque sensor. In order to enable it to accurately measure the above parameters, the present invention also provides a fixing pin 441. In this way, both sides of the sensor 44 can be fixedly connected to the drill gear 42 and the driven gear 43 respectively through the fixing pin 441. In this embodiment, the fixing pins 441 are arranged at circumferential intervals to ensure stable and firm connection. In this embodiment, the drill gear 42 and the driven gear 43 are supported on the central shaft 41 through bearings, so that these two gears can rotate freely on the central shaft 41. In addition, the middle part of the sensor 44 has a through hole 442 for the central shaft 41 to pass through. Of course, the diameter of the through hole 442 is larger than the outer diameter of the corresponding part of the central shaft 41, so that there is a gap between them and the central shaft 41. That is, although the sensor 44 is sleeved on the central shaft 41, it does not rotate with the central shaft 41, but only operates driven by the drill gear 42, and transmits the power transmitted by the drill gear 42 to the driven gear 43.

[0046] See Figure 4, in the present invention, the control component includes a circuit board and a control panel 6 connected to the circuit board. In addition, the robotic bone drill of the present invention is not a handheld device, but relies on an automatic control device to perform drilling. Therefore, it also includes a trolley 7 and a robotic arm 8 mounted on the trolley 7. The above-mentioned control panel 6 is also provided on the trolley 7 to facilitate operation and viewing by the user; the circuit board can be provided inside the inner shell 1. The inner shell 1 of the robotic bone drill is threadedly connected to the robotic arm connecting seat 103, and the robotic arm connecting seat 103 is connected to the robotic arm 8. The circuit board is connected to the trolley 7 or the robotic arm 8. Thus, the electric hammer part of the robotic bone drill can be powered by the trolley 7 or the robotic arm 8 and complete information interaction with the robotic arm control system, and the rotational speed, start and stop of the electric hammer part are controlled in real time by the robotic arm control system. In order to obtain the accurate drilling position, the present invention also includes a C-arm machine 9 for acquiring the spatial position and attitude information of the robotic arm 8 and transmitting it to the trolley 7. Thus, the electric hammer part of the robotic bone drill of the present invention can be fixedly connected to the robotic arm trolley and can communicate. Patient A exposes the affected area under the C-arm machine 9. By analyzing the fluoroscopic image, the robotic arm control system (i.e., the control component 3) and other auxiliary software complete the calculation of the spatial position of the robotic arm and output it to the robotic arm 8. At this time, the electric hammer part of the robotic bone drill will move driven by the robotic arm 8 and be fixed at a predetermined spatial position. Moreover, the user can obtain the operating state of the robotic bone drill through the control panel 6 and can input the operating parameters of the robotic bone drill in real time through the control panel 6 according to the actual operating state, thereby realizing the human-machine interaction function of the robotic bone drill. The circuit board is connected to the sensor 44, so that the rotational speed and torque feedback by the sensor 44 can be received and displayed on the control panel 6 for the user to monitor the operating state of the robotic bone drill in real time. In addition, the circuit board is also connected to the motor 2, so that the motor 2 can be controlled according to the parameters input by the user through the control panel 6, such as controlling parameters such as the motor power. Controlling the motor 2 is mainly to control the rotational speed of the motor 2. In this way, according to the relationship between the motor 2 and the hammering force obtained through prior research, the hammering force parameter can be indirectly controlled. Thus, according to the parameters feedback by the sensor 44, it can be indirectly judged whether the current hammering force is appropriate, and the hammering force of the robotic bone drill can be adjusted at any time by inputting the operating parameters of the robotic bone drill to achieve the functions of closed-loop control of the operation of the robotic bone drill and controllable actual operating parameters. In this way, it is possible to avoid excessive force from causing additional damage to the patient's bones, and to increase the force in a timely manner when the force is small, so as to further improve the safety of the robotic bone drill and the effectiveness of punching. In the present invention, the rotational speed is basically controlled between 0 - 30000 rpm, and the torque is controlled between 0 - 2 N·m, so as to achieve a more effective punching effect and minimize the damage to the bones caused by the hammering process.

[0047] See Figure 6 and Figure 7, in order to connect the inner shell 1 with the robotic arm 8, the present invention further provides an outer shell 10, in which various power, transmission, and control components of the robotic bone drill are installed and fixed. The outer shell 10 includes a sleeve connection base 101, a sleeve 102, and a robotic arm connection base 103. The sleeve 102 is a hollow cylinder and is detachably connected to the sleeve connection base 101 by a threaded connection. In this way, this replaceable sleeve 102 can be selected according to the required axial dimension of the robotic bone drill to penetrate the internal structure. A housing connection sleeve 104 is threadedly connected to the robotic arm connection base 103, and an adjusting thread ring 105 is externally threadedly connected to the housing connection sleeve 104. The adjusting thread ring 105 can rotate outside the housing connection sleeve 104 and can be locked by a fastening bolt 106 to achieve the purpose of moving forward or backward, and can be fixed when the adjusting thread ring 105 moves to a preset position. The inner shell 1 is threadedly connected and fixed to the robotic arm connection base 103, and the robotic arm connection base 103 is fixedly connected to the robotic arm 8 by a threaded connection. A sliding guide rail 107 and a scale 108 are installed on the outer side of the housing connection sleeve 104. The sliding guide rail 107, the scale 108, the housing connection sleeve 104, and the robotic arm connection base 103 are fixedly connected, and a slider 109 is slidably arranged on the sliding guide rail 107. In this way, the accurate setting dimension of the adjusting thread ring 105 can be obtained through the scale 108. The inner shell 1 is arranged on the robotic arm connection base 103 by a threaded connection and forms a closed cavity with the robotic arm connection base 103. The present invention also provides a knob 1010, which passes through the mounting hole outside the inner shell 1 and is rotatably arranged on the inner shell 1, and can cooperate with the control component. In this way, different rotation angles of the knob 1010 can control the working mode of the electric hammer. The sleeve connection base 101 is threadedly connected to the slider 109, and the slider 109 slides on the sliding guide rail 107 to drive the sleeve connection base 101 to move, so as to improve the straightness and stability of the sleeve connection base 101 during the movement process. When the sleeve connection base 101 moves forward and backward, the moved distance of the sleeve connection base 101 can be read through the scale 108, so as to improve the information interaction between the medical staff and the electric hammer. Two contact terminals 1011 and a pointer 1012 are fixed on the sleeve connection base 101. The pointer 1012 can assist the user to accurately read the value corresponding to the current scale, and the contact terminal is connected to the signal wire. When the sleeve connection base 101 moves forward and backward along the sliding guide rail 107 and the contact terminal 1011 contacts the adjusted adjusting thread ring 105, the signal circuit will be conducted, and the trolley 7 will obtain a feedback signal and issue a termination instruction to terminate the movement of the robotic arm 8. Thus, the whole robotic bone drill is composed of a robotic arm trolley, a robotic arm, and an electric hammer, thereby improving the automation degree and spatial positioning accuracy of the robotic bone drill. With the help of the mechanical structure, the feed rate setting, detection, and control are completed.The trolley 7 can complete information interaction with the fluoroscopy imaging device, realize channel planning and spatial positioning of the electric hammer, achieve precise three-dimensional positioning of the patient in the three-dimensional space, help medical staff obtain detailed three-dimensional information of the lesion, achieve the effect of full-process informatization and automation, and improve the operation efficiency. The trolley 7 controls the robotic arm 8, and finally drives the movement of the electric hammer part, so as to accurately locate the spatial coordinates of the electric hammer and complete the automatic spatial positioning function of the electric hammer.

[0048] In summary, when the robotic bone drill of the present invention is in use, the trolley 7 obtains the spatial position of patient A, and the trolley 7 outputs the operating parameters of the robotic arm 8 to a predetermined spatial position. The drill bit 3 and the matching replaceable sleeve 102 are installed. When the replaceable sleeve 102 reaches the bone surface, as the initial position, the size of the corresponding scale 108 is the initial value, and the position of the adjusting threaded ring 105 is adjusted to a predetermined value. According to actual needs, the operating parameters of the electric hammer are set, and the detection of the operating parameters of the robotic bone drill is completed in combination with the torque sensor. According to the reading of the sleeve connection seat 101 on the scale 108, the displacement size of the sleeve connection seat 101 at this moment can be obtained, and this size is equal to the actual needle insertion depth of the drill bit 3, so that the detection of the needle insertion depth of the drill bit 3 can be indirectly completed. When the two contact terminals 1011 on the sleeve connection seat 101 are in contact with the adjusting threaded ring 105, the signal circuit is conducted and transmitted to the trolley 7, and finally, after being processed by the trolley 7, the further needle insertion action of the robotic arm 8 is terminated.

[0049] In the present invention, a ram gear 45, a connecting gear 46 and a sleeve 47 are further provided on the central shaft 41. The ram gear 45 and the drill bit gear 42 are respectively located on both sides of the connecting gear 46. The ram gear 45 and the drill bit gear 42 are arranged in a similar form and are also arranged on the central shaft 41 through bearings, so that they can rotate freely on the central shaft 41. The connecting gear 46 is fixedly connected to the central shaft 41, and the sleeve 47 is sleeved and meshed outside the connecting gear 46 (that is, the sleeve 47 has internal teeth), so that the sleeve 47 can be driven by the connecting gear 46 to rotate. In addition, the sleeve 47 can be driven by the switching assembly 5 to move axially, and can be meshed with the ram gear 45 and the drill bit gear 42 during the movement. In this way, the robotic bone drill is provided with three gears, and can respectively realize three working modes of "hammering and drilling", "drilling", and "hammering", thereby improving the punching and positioning accuracy and preventing the robotic bone drill from slipping, and each function is independent and also maintains the stability and accuracy of the bone punching operation. For the switching assembly 5, as long as it can realize the function of driving the sleeve 47 to move linearly, its structure is not overly limited.

[0050] See Figure 3, the central shaft 41 is connected to the output shaft 102 of the motor 2 through a helical gear 101. There is also a swing bearing 103 between the helical gear 101 and the ram gear 45. The swing bearing 103 is connected to one end of the cylinder block 105 through a swing rod 104, and the other end of the cylinder block 105 is connected to the drill bit 3. In addition, a large gear 106 is provided on the inner shell of the cylinder block 105, which meshes with the driven gear 43; the swing bearing 103 is also rotatably arranged on the central shaft 41, but is fixedly connected to the ram gear 45, that is, it can only be driven to rotate by the ram gear 45.

[0051] When the robotic bone drill is in Figure 3 gear a, the position of the sleeve 47 just meshes with the ram gear 45 and the drill bit gear 42 at the same time. The central shaft 41 can drive these two gears to rotate simultaneously. The rotation of the ram gear 45 can drive the swing bearing 103 to rotate, thereby driving the swing rod 104 to swing, and further driving the cylinder block 105 to reciprocate linearly, and driving the drill bit 3 to reciprocate linearly to complete the "hammering" action. For the working principle of hammering, since the cylinder block 105 slides left and right under the swing of the swing rod 104, the ram in the cylinder block 105 slides left and right to reciprocally compress the gas, and the air pressure in the cylinder block 105 changes periodically. The changing air pressure causes the ram to reciprocally impact periodically in the cylinder block 105. The ram impacts the impact rod, and the impact rod impacts left and right to reciprocally impact the tool drill bit 3 to achieve the hammering function. The rotation of the drill bit gear 42 can drive the sensor 44 fixedly connected thereto to rotate, and further drive the driven gear 43 fixedly connected to the sensor 44 to rotate. The rotation of the driven gear 43 can drive the large gear 106 meshing with it to rotate, thereby driving the inner shell 1 of the cylinder block 105 to rotate, and further driving the drill bit 3 to rotate to complete the "drilling" action.

[0052] When the robotic bone drill is in Figure 3 gear b and Figure 3 c, the sleeve 47 only meshes with the ram gear 45 and the drill bit gear 42 respectively, so as to drive the robotic bone drill to only complete the "hammering" and "drilling" functions respectively. In this way, the user can adjust different gears by switching the component 5, realizing the function expansion of the orthopedic electric drill, so that it has both hammering and rotating functions at the same time.

[0053] As described above, the present invention realizes the function expansion of the orthopedic electric drill, enabling it to have the functions of hammering and rotation at the same time. Moreover, through the monitoring of the rotation speed and hammering force of the robotic bone drill and the closed-loop control between the control components, the actual operating state of the impact hammer is monitored, and the maximum impact force it can provide is indirectly obtained, thereby ensuring the safety of medical treatment and achieving the effect that the operating parameters of the robotic bone drill are adjustable and controllable. The drilling method is to first punch a center punch and then drill, which can improve the accuracy of the drilling operation and avoid the phenomenon of needle slipping. In addition, it can avoid or solve the problem of needle slipping in orthopedic surgery and a new robotic bone drill operation control solution including the spatial positioning, needle insertion depth, and operating parameter control of the robotic bone drill, so as to improve the operation accuracy of the drilling operation in orthopedic surgery and reduce the labor intensity of medical staff.

[0054] The above description is only one embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robotic bone drill, comprising an inner shell (1), a motor (2), a drill bit (3), a transmission assembly (4), a switching assembly (5) and a control assembly. The transmission assembly (4) includes a central shaft (41), a drill bit gear (42) and a driven gear (43) arranged on the central shaft (41), characterized in that, The transmission assembly (4) further includes a sensor (44) sleeved on the central shaft (41) and fixedly connected to the drill bit gear (42) and the driven gear (43). The sensor (44) is a torque sensor and is fixedly connected to the drill bit gear (42) and the driven gear (43) through fixing pins (441). The fixing pins (441) are arranged at intervals in the circumferential direction; A ram gear (45), a connecting gear (46) and a sleeve (47) are further provided on the central shaft (41). The ram gear (45) and the drill bit gear (42) are respectively located on both sides of the connecting gear (46). The sleeve (47) is sleeved and meshed on the outside of the connecting gear (46); It further includes a housing (10). The housing (10) includes a sleeve connecting seat (101), a sleeve (102) and a robotic arm connecting seat (103); The sleeve (102) is a hollow cylinder and is detachably connected to the sleeve connecting seat (101) by means of threaded connection; An outer housing connecting sleeve (104) is threadedly connected to the robotic arm connecting seat (103), and an adjusting threaded ring (105) is threadedly connected to the outside of the outer housing connecting sleeve (104); The adjusting threaded ring (105) can rotate outside the outer housing connecting sleeve (104) and can be locked by a fastening bolt (106); A sliding guide rail (107) and a scale (108) are installed on the outside of the outer housing connecting sleeve (104); A slider (109) is slidably arranged on the sliding guide rail (107); The inner housing (1) is arranged on the robotic arm connecting seat (103) by means of threaded connection and forms a closed cavity with the robotic arm connecting seat (103); The sleeve connecting seat (101) is threadedly connected to the slider (109). The slider (109) can slide on the sliding guide rail (107) to drive the sleeve connecting seat (101) to move; Two contact terminals (1011) and a pointer (1012) are fixed on the sleeve connecting seat (101).

2. The robot bone drill according to claim 1, wherein The center of the torque sensor has a through hole (442) for the central shaft (41) to pass through, and there is a gap between the through hole (442) and the central shaft (41).

3. The robotic bone drill according to claim 1, characterized in that, The control assembly includes a circuit board and a control panel (6). The control panel (6) is connected to the circuit board.

4. The robot bone drill according to claim 3, characterized in that, The circuit board is connected to the sensor (44) and can display the parameters fed back by the sensor (44) on the control panel (6).

5. The robot bone drill according to claim 3, characterized in that, The circuit board is connected to the motor (2) and can control the motor (2) according to the parameters input by the user through the control panel (6).

6. The robotic bone drill according to claim 1, characterized in that, The sleeve (47) can be driven by the switching assembly (5) to move axially and can be meshed with the ram gear (45) and the drill bit gear (42) during the movement; 7. The robot bone drill according to claim 1, wherein The connecting gear (46) is fixedly connected to the central shaft (41), and the drill bit gear (42), the driven gear (43) and the ram gear (45) are rotatably arranged on the central shaft (41).

8. The robotic bone drill according to claim 1, wherein, The rotational speed ranges from 0 to 30,000 rpm, and the torque ranges from 0 to 2 N•m.

9. The robotic bone drill according to claim 3, wherein It further includes a trolley (7) and a robotic arm (8) mounted on the trolley (7), and the control panel (6) is arranged on the trolley (7); The inner shell (1) is mounted on the robotic arm (8), the circuit board is mounted on the inner shell (1) and is connected to the trolley (7) or the robotic arm (8).

10. The robotic bone drill according to claim 9, characterized in that, It further includes a C-arm machine (9) for acquiring the spatial position and attitude information of the robotic arm (8) and transmitting them to the trolley (7).

11. The robotic bone drill according to claim 10, wherein The outer shell (10) is threadedly connected to the robotic arm (8) through the robotic arm connection seat (103).

12. The robotic bone drill according to claim 11, wherein It further includes a knob (1010) that passes through the mounting hole outside the inner shell (1) and is rotatably arranged on the inner shell (1).

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