A minimally invasive spine surgery robot for tunnel-type steel plate installation based on clip positioning

Abstract

The present invention relates to a tunnel-type steel plate installation spinal minimally invasive surgical robot based on clip positioning, which includes a trolley-type box body. An X-direction movement and driving mechanism is installed below the trolley-type box body. A Z-direction movement and driving mechanism is installed on the X-direction movement and driving mechanism. The upper end of the Z-direction movement and driving mechanism is installed with a carrying device through a fixed seat. The carrying device is connected to a Y-direction movement and driving mechanism through a Y-axis rotation and driving mechanism. An X-axis rotation and driving mechanism is arranged on the Y-direction movement and driving mechanism. The X-axis rotation and driving mechanism is connected to a headstock fixing seat through a double-fork connecting device. The headstock fixing seat is connected with a replaceable head. A control system is arranged in the console. It can realize three-axis multi-degree-of-freedom adjustment, act on different surgical surfaces, better meet the needs of spinal induced natural absorption of intervertebral discs or other minimally invasive surgeries, and satisfy the operation of surgical sites of patients with different body types.

Description

Technical Field

[0001] The present invention relates to a minimally invasive surgical robot, and particularly to a spinal minimally invasive surgical robot for installing a tunnel-shaped steel plate based on clip positioning. Background Art

[0002] In recent years, some major progress has been made in the field of spinal surgery, and the surgical treatment method for lumbar disc herniation will undergo a revolutionary change: the mode mainly based on "removing" the herniated intervertebral disc will enter a mode mainly based on "preserving" the herniated intervertebral disc to allow it to absorb naturally. Literature reports that the artificial spinal double-opening expansionplasty (CMEL) can widely "induce" the natural absorption (RHNP) phenomenon of the herniated intervertebral disc, and the absorption ratio can reach 81.3%, and the absorption rate can reach 100%. However, the artificial spinal double-opening expansionplasty (CMEL) has problems such as a large incision and cumbersome surgical operations, especially the installation of steel plates, which affects the popularization of this new technology. Although spinal surgical robots have been successfully applied clinically, including the Mazor Spine Assistant in Israel, the SPINEBOT Spinal Robot in South Korea, the Mazor X Spinal Surgical Robot in the United States, and the Tianji Spinal Surgical Robot in China, etc., they basically adopt the method of registering intraoperative X-ray images with preoperative CT images and can only be used for pedicle screw implantation, with very single functions. Currently, there is no spinal minimally invasive surgical robot that can complete the CMEL procedure, achieve double-opening decompression of the spinal canal, posterior displacement and expansion of the spinous process ligament complex, and thus "induce" extensive natural absorption (RHNP) of the herniated intervertebral disc.

[0003] In view of the above situation, the present inventor has actively carried out research and innovation in order to create a spinal minimally invasive surgical robot for installing a tunnel-shaped steel plate based on clip positioning, which has a smaller incision and less trauma, is safer and more efficient, and can "induce" extensive natural absorption (RHNP) of the herniated intervertebral disc, making it more valuable in industrial utilization. Summary of the Invention

[0004] In order to solve the above technical problems, the object of the present invention is to provide a spinal minimally invasive surgical robot for installing a tunnel-shaped steel plate based on clip positioning.

[0005] The present invention discloses a tunnel-type steel plate-mounted minimally invasive spine surgery robot based on clamp-type positioning, comprising a trolley-type box, wherein: an X-axis motion and driving mechanism is installed below the trolley-type box, a Z-axis motion and driving mechanism is installed on the X-axis motion and driving mechanism, a console is provided on the trolley-type box, and a clearance groove is distributed on the console. The upper end of the Z-axis motion and driving mechanism can extend the clearance groove, and a bearing device is installed on the upper end of the Z-axis motion and driving mechanism through a fixed seat, and the bearing device is connected to the Y-axis motion and driving mechanism through a Y-axis rotation and driving mechanism, and the Y-axis motion and An X-axis rotation and drive mechanism is provided on the driving mechanism, and the X-axis rotation and drive mechanism is connected to the machine head fixing seat through a double-fork connecting device, and the double-fork connecting device includes an upper fork connected to the X-axis rotation motor, and a lower fork is connected to the lower part of the upper fork through a fork guide rail, and a replaceable machine head is connected to the machine head fixing seat, and a control system is provided in the console, and a hand controller and a plurality of buttons are provided on the console, and the control system is connected to the X-axis motion and drive mechanism, the Y-axis motion and drive mechanism, the Z-axis motion and drive mechanism, the X-axis rotation and drive mechanism, the Y-axis rotation and drive mechanism, the hand controller, and the buttons.

[0006] Furthermore, in the above-mentioned tunnel-type steel plate-installed minimally invasive spinal surgical robot based on clamp-type positioning, the X-axis motion and driving mechanism includes an X-axis guide rail, an X-axis slider is arranged on the X-axis guide rail, a Z-axis motion and driving mechanism is installed on the X-axis slider, and the X-axis slider is also connected to an X-axis motor.

[0007] Furthermore, in the above-mentioned tunnel-type steel plate-installed minimally invasive spinal surgical robot based on clamp-type positioning, the Z-direction motion and driving mechanism includes a Z-direction guide rail, a Z-direction slider is arranged on the Z-direction guide rail, a fixed seat is installed on the Z-direction slider, and the Z-direction slider is also connected to a Z-direction motor.

[0008] Furthermore, in the above-mentioned tunnel-type steel plate-installed minimally invasive spinal surgical robot based on clamp-type positioning, the Y-axis motion and driving mechanism includes a Y-axis guide rail, a Y-axis slider is arranged on the Y-axis guide rail, a Y-axis motor connected to the Y-axis slider is arranged at one end of the Y-axis guide rail, and the other end of the Y-axis guide rail is connected to the lower fork of the double-fork connecting device.

[0009] Furthermore, in the above-mentioned tunnel-type steel plate-installed minimally invasive spinal surgical robot based on clamp-type positioning, the Y-axis rotation and driving mechanism includes a Y-axis motor seat connected to a fixed seat, a Y-axis rotating motor is arranged on the Y-axis motor seat, and the Y-axis rotating motor is connected to the supporting device through a screw assembly.

[0010] Furthermore, for the above-mentioned minimally invasive spine surgery robot for tunnel-type steel plate installation based on clip positioning, the carrying device includes a cross beam connected to the fixed seat. A swing arm assembly is installed on the cross beam. The swing arm assembly includes a swing arm seat. A U-shaped frame is installed on the swing arm seat. A Y-direction movement and driving mechanism is installed on the U-shaped frame. An adapter assembly is arranged inside the U-shaped frame. The adapter assembly is connected to the Y-axis rotation and driving mechanism. The adapter assembly includes an adapter block. The adapter block is connected to the U-shaped frame through a swing arm rotating shaft.

[0011] Furthermore, for the above-mentioned minimally invasive spine surgery robot for tunnel-type steel plate installation based on clip positioning, the X-axis rotation and driving mechanism includes an X-axis motor seat connected to the Y-direction movement and driving mechanism. An X-axis rotating motor is arranged on the X-axis motor seat. The shaft of the X-axis rotating motor is connected to the upper fork of the double-fork connection device.

[0012] Furthermore, for the above-mentioned minimally invasive spine surgery robot for tunnel-type steel plate installation based on clip positioning, the double-fork connection device includes an upper fork connected to the X-axis rotating motor. The lower fork is connected to the lower part of the upper fork through an inter-fork guide rail. A upper wire slot is arranged at the rear end of the upper fork. A upper rotating shaft is arranged at the front end of the upper fork. A lower wire slot is arranged at the rear end of the lower fork. A lower rotating shaft is arranged at the front end of the lower fork.

[0013] Furthermore, for the above-mentioned minimally invasive spine surgery robot for tunnel-type steel plate installation based on clip positioning, the upper fork is connected to the upper rotating shaft hole of the head fixed seat through the upper rotating shaft. The lower fork is connected to the lower rotating shaft hole of the head fixed seat through the lower rotating shaft.

[0014] Still further, for the above-mentioned minimally invasive spine surgery robot for tunnel-type steel plate installation based on clip positioning, side guide rails are arranged on the trolley-type box body. External fixing hooks are installed on the side guide rails.

[0015] By means of the above solution, the present invention has at least the following advantages:

[0016] 1. Through the mutual cooperation of the X-direction movement and driving mechanism, the Y-direction movement and driving mechanism, and the Z-direction movement and driving mechanism, three-axis multi-degree-of-freedom movement adjustment can be achieved, acting on different surgical surfaces to meet the operation requirements of the surgical sites of patients with different body types.

[0017] 2. The X-axis rotation and driving mechanism and the Y-axis rotation and driving mechanism are additionally provided, which can simultaneously meet the axial rotation adjustment in the X and Y directions. Multiple adjustment points in multiple angular directions are added on the basis of the three-axis movement, and "multi-axis linkage" can be realized to better meet the needs of inducing natural absorption of spinal discs or other minimally invasive surgeries.

[0018] 3. The use of a double-fork connection device enables the convenient and rapid switching of the replaceable head device, ensures stable operation, can meet the layout requirements of the sterile sleeve, and improves the cleanliness standard of use.

[0019] 4. The replaceable head device can be replaced and configured according to different surgical needs without replacing the entire robot, resulting in low implementation costs.

[0020] 5. Equipped with a control system, convenient auxiliary operations can be achieved in cooperation with the hand controller and buttons, meeting the integrated use of various methods such as the automatic operation of the robot and manual assistance.

[0021] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following provides a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the minimally invasive spinal surgery robot for tunnel-type steel plate installation based on clip-type positioning.

[0023] Figure 2 is a schematic diagram of the side structure of the minimally invasive spinal surgery robot for tunnel-type steel plate installation based on clip-type positioning.

[0024] Figure 3 is a schematic diagram of the state where the X-direction movement and drive mechanism, Z-direction movement and drive mechanism, and Y-direction movement and drive mechanism are all retracted to one extreme position.

[0025] Figure 4 is a schematic diagram of the state where the X-direction movement and drive mechanism, Z-direction movement and drive mechanism, and Y-direction movement and drive mechanism are all retracted to the other extreme position.

[0026] Figure 5 is a schematic diagram of the state where the double-fork connection device is at a 45-degree right rotation.

[0027] Figure 6 is a schematic diagram of the state where the double-fork connection device is at a 45-degree left rotation.

[0028] Figure 7 is a schematic diagram of the state where the upper fork and the lower fork are in the forward feeding state.

[0029] Figure 8 is a schematic diagram of the state where the upper fork and the lower fork are in the retracted state.

[0030] The meanings of the reference numerals in the drawings are as follows.

[0031] 1 trolley-type box body 2 X-direction movement and drive mechanism

[0032] 3 Z-direction movement and drive mechanism 4 Relief slot

[0033] 5 Fixed seat 6 Y-axis rotation and drive mechanism

[0034] 7 Y-direction movement and drive mechanism 8 X-axis rotation and drive mechanism

[0035] 9 Replaceable head device 10 Hand controller

[0036] 11 Buttons 12 X-axis guide rail

[0037] 13 X-axis slider 14 X-axis motor

[0038] 15 Z-axis guide rail 16 Y-axis guide rail

[0039] 17 Y-axis slider 18 Y-axis motor

[0040] 19 Y-axis motor seat 20 Y-axis rotation motor

[0041] 21 Lead screw assembly 22 Cross beam

[0042] 23 Swing arm seat 24 U-shaped frame

[0043] 25 Connecting block 26 Swing arm rotating shaft

[0044] 27 X-axis motor seat 28 X-axis rotation motor

[0045] 29 Upper fork 30 Guide rail between forks

[0046] 31 Lower fork 32 Upper wire trough

[0047] 33 Upper rotating shaft 34 Lower wire trough

[0048] 35 Lower rotating shaft 36 Side guide rail

[0049] 37 Outer fixing hook 38 Console

[0050] 39 Upper fork fixing block 40 Lower fork fixing block

[0051] 41 Head fixing seat 42 Upper rotating shaft hole Detailed implementation manners

[0052] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0053] As Figures 1 to 2A tunnel-type steel plate-mounted minimally invasive spine surgery robot based on clamp-type positioning includes a trolley-type box 1, which is different in that: an X-axis motion and drive mechanism 2 is installed below the trolley-type box 1, which is convenient for realizing displacement adjustment in the X-axis direction. At the same time, considering the need for control and adjustment in the Z-axis direction during operation, a Z-axis motion and drive mechanism 3 is installed on the X-axis motion and drive mechanism 2. In addition, in order to achieve a stable assembly and give an appropriate operating limit, a console 38 is provided on the trolley-type box, and a clearance slot 4 is distributed on the console 38. The upper end of the Z-axis motion and drive mechanism 3 can extend the clearance slot 4, and has more movable range. Of course, even if it does not extend out, it will not constitute an obstruction. Considering the stable connection of the subsequent device and ensuring better stability during use, the upper end of the Z-axis motion and drive mechanism 3 is installed with a bearing device through a fixed seat 5. Specifically, in order to realize the control of the Y-axis motion and its corresponding axial direction, the bearing device used in the present invention is connected to the Y-axis motion and drive mechanism 7 through the Y-axis rotation and drive mechanism 6. Considering that the subsequent replaceable head device 9 will use different components according to the needs of the operation, and it also has different requirements for the working angle, in order to achieve convenient regulation, an X-axis rotation and drive mechanism 8 is provided on the Y-axis motion and drive mechanism 7, and the X-axis rotation and drive mechanism 8 is connected to the head fixing seat 41 through a double fork connection device, and the head fixing seat 41 is connected to the replaceable head device 9. In view of practical applications, in order to achieve coordinated operation between various drive mechanisms and avoid repeated data calibration as much as possible under manual control, a control system is provided in the console 38, and a hand controller 10 and a plurality of buttons 11 (and other control devices) are provided on the console 38. Therefore, the control system is connected to the X-axis motion and drive mechanism 2, the Y-axis motion and drive mechanism 7, the Z-axis motion and drive mechanism 3, the X-axis rotation and drive mechanism 8, the Y-axis rotation and drive mechanism 6, the hand controller 10, and the button 11.

[0054] In combination with a preferred embodiment of the present invention, the X-direction motion and driving mechanism 2 used includes an X-direction guide rail 12, an X-direction slider 13 is provided on the X-direction guide rail 12, a Z-direction motion and driving mechanism 3 is installed on the X-direction slider 13, and the X-direction slider 13 is also connected to an X-direction motor 14. Similarly, the Z-direction motion and driving mechanism 3 used includes a Z-direction guide rail 15, a Z-direction slider is provided on the Z-direction guide rail 15, a fixing seat 5 is installed on the Z-direction slider, and the Z-direction slider is also connected to a Z-direction motor. Considering the precise stability of the Y-direction guidance, the Y-direction motion and driving mechanism 7 used includes a Y-direction guide rail 16, a Y-direction slider 17 is provided on the Y-direction guide rail 16, a Y-direction motor 18 connected to the Y-direction slider 17 is provided at one end of the Y-direction guide rail 16, and the other end of the Y-direction guide rail 16 is connected to the lower fork 31 of the double-fork connecting device.

[0055] Furthermore, considering the need for multi-angle rotation adjustment in the Y-axis direction, the Y-axis rotation and drive mechanism 6 includes a Y-axis motor base 19 connected to the fixed base 5. At the same time, in order to meet the rotational drive in the corresponding axial direction, the present invention is provided with a Y-axis rotation motor 20 on the Y-axis motor base 19. And the Y-axis rotation motor 20 is connected to the bearing device through a lead screw assembly 21.

[0056] In combination with the actual implementation, the bearing device includes a cross beam 22 connected to the fixed base 5, and a swing arm assembly is installed on the cross beam 22. In this way, the overall bearing stability can be improved, and unnecessary tremors can be avoided during use. Specifically, the swing arm assembly adopted by the present invention includes a swing arm base 23, a U-shaped frame 24 is installed on the swing arm base 23, and a Y-direction movement and drive mechanism 7 is installed at the upper end of the U-shaped frame 24. At the same time, a connection assembly is arranged in the U-shaped frame 24, and the connection assembly is connected to the Y-axis rotation and drive mechanism 6. Considering the stability of the driving force transmission connection, the connection assembly adopted includes a connection block 25, and the connection block 25 is connected to the U-shaped frame 24 through a swing arm rotating shaft 26. After assembly, the connection block 25 is connected to the lead screw assembly 21.

[0057] Looking further, considering the need for the stability of the actual angle control in the X-axis direction and the stable connection of the replaceable head can be achieved, the X-axis rotation and drive mechanism 8 includes an X-axis rotation motor base 27 connected to the Y-direction movement and drive mechanism 7. An X-axis rotation motor 28 is provided on the X-axis rotation motor base 27. The X-axis rotation motor 28 is connected to the upper rotation shaft hole 42 of the head fixing seat through an upper rotation shaft 33. The front end of the lower fork 31 is connected to the lower rotation shaft hole of the head fixing seat (not shown in the figure because it is blocked by the lower rotation shaft 35) through a lower rotation shaft 35.

[0058] In order to meet the stable transitional connection, the double-fork connection device adopted by the present invention includes an upper fork 29 connected to the X-axis rotation motor 28, and a lower fork 31 is connected below the upper fork 29 through an inter-fork guide rail 30. During assembly, the lower fork 31 is connected to the Y-direction guide rail 16. At the same time, an upper wire slot 32 is provided at the rear end 39 of the upper fork 29. Similarly, a lower wire slot 34 is provided at the rear end 40 of the lower fork 31. In this way, relying on the existence of the upper wire slot 32 and the lower wire slot 34, the sterile sleeve can be sleeved and fixed by using the corresponding wire slots during the operation. And the double-fork connection device and the head fixing seat 41 can be quickly removed from the shaft of the X-axis rotation motor 28 and one end of the Y-direction guide rail 16 for high-temperature and high-pressure sterilization. Through the existence of the head fixing seat 41, the replaceable head device 9 is connected and locked with the head fixing seat 41.

[0059] During actual implementation, with the operation of the X-axis rotation motor 28, the upper fork 29 can move forward or backward under the guidance of the fork rail 30. In this way, the head fixing seat 41 connected to the replaceable head device 9 can be driven to perform angular movement around the X-axis, achieving precise adjustment of the rotation angle in the X-axis direction.

[0060] To avoid sharp parts that may scratch the operator or other parts of the replaceable head device 9, the front ends of the upper fork 29 and the lower fork 31 are provided with arc structures.

[0061] Furthermore, the present invention is provided with side rails 36 on the trolley-type box body 1, and external fixing hooks 37 are installed on the side rails 36. In this way, it is ensured that the trolley can be more stably connected and fixed to the operating table during use.

[0062] The working principle of the present invention is as follows:

[0063] 1. Manual independent movement control mode:

[0064] During use, an operator individually issues commands through the hand controller 10 and a number of buttons 11 (and other control devices) provided on the console 38. In this way, the X-direction movement and drive mechanism 2, Y-direction movement and drive mechanism 7, Z-direction movement and drive mechanism 3, X-axis rotation and drive mechanism 8, and Y-axis rotation and drive mechanism 6 move independently. Thus, the attitude of the replaceable head device 9 can be intuitively and conveniently adjusted to meet the requirements of minimally invasive spinal surgery and complete the surgical operation.

[0065] 2. Manual linkage control mode:

[0066] According to the requirements of minimally invasive spinal surgery, an operator can simultaneously issue commands through the hand controller 10 and a number of buttons 11 (and other control devices) provided on the console 38. In this way, the X-direction movement and drive mechanism 2, Y-direction movement and drive mechanism 7, Z-direction movement and drive mechanism 3, X-axis rotation and drive mechanism 8, and Y-axis rotation and drive mechanism 6 can move jointly to coordinately adjust the attitude of the replaceable head device 9 and complete the surgical operation.

[0067] 3. Automatic control working mode:

[0068] Through the control software, the X-direction movement and drive mechanism 2, Y-direction movement and drive mechanism 7, Z-direction movement and drive mechanism 3, X-axis rotation and drive mechanism 8, and Y-axis rotation and drive mechanism 6 move independently or jointly to automatically adjust the attitude of the replaceable head device 9 and complete the surgical operation.

[0069] All in all, combined Figures 3 to 8 it can have different working angles and positions, improving the operation range.

[0070] As can be seen from the above textual description in combination with the attached drawings, after adopting the present invention, the following advantages are achieved:

[0071] 1. Through the mutual cooperation of the X-direction movement and drive mechanism, the Y-direction movement and drive mechanism, and the Z-direction movement and drive mechanism, three-axis multi-directional adjustment can be achieved, acting on different surgical surfaces and meeting the operation requirements of surgical sites of different patient body types.

[0072] 2. The X-axis rotation and drive mechanism and the Y-axis rotation and drive mechanism are added, which can simultaneously meet the axial rotation adjustment in the X and Y directions. Based on the three-axis movement, multiple adjustment points in multiple angular directions are added, enabling "multi-axis linkage" to better meet the needs of spinal-induced natural absorption of intervertebral discs or other minimally invasive surgeries.

[0073] 3. By adopting the double-fork connection device, convenient and rapid switching of the replaceable nose device can be achieved, and stable operation can be ensured, which can meet the layout and use of sterile covers and improve the cleanliness standard of use.

[0074] 4. The replaceable nose device can be replaced and configured according to different surgical requirements without replacing the entire robot, and the implementation cost is low.

[0075] 5. It is equipped with a control system, and convenient auxiliary operations can be achieved in cooperation with the hand controller and buttons, which can meet the integrated use of various methods such as automatic operation of the robot and manual assistance.

[0076] In addition, the indicated orientation or positional relationship described in the present invention is based on the orientation or positional relationship shown in the attached drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or structure must have a specific orientation, or be operated in a specific orientation structure. Therefore, it should not be construed as a limitation to the present invention.

[0077] The terms "main" and "subsidiary" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "main" and "subsidiary" may explicitly or implicitly include one or more of such features. In the description of the present invention, "several" means two or more unless otherwise specifically defined.

[0078] Similarly, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "multiple" means two or more unless otherwise specifically defined.

[0079] In the present invention, unless otherwise clearly specified and defined, terms such as "connection" and "arrangement" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. And it can be directly on another component or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to that other component.

[0080] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0081] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can still be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A minimally invasive spinal surgery robot for installing tunneled steel plates based on clip positioning, comprising a trolley-type box body, characterized in that: An X-direction motion and driving mechanism is installed below the trolley-type box, a Z-direction motion and driving mechanism is installed on the X-direction motion and driving mechanism, a control console is provided on the trolley-type box, and a clearance slot is distributed on the control console. The upper end of the Z-direction motion and driving mechanism extends out of the clearance slot, and a bearing device is installed on the upper end of the Z-direction motion and driving mechanism through a fixed seat, and the bearing device is connected to the Y-direction motion and driving mechanism through a Y-axial rotation and driving mechanism, and an X-axial rotation and driving mechanism is provided on the Y-direction motion and driving mechanism, and the X-axial rotation and driving mechanism is connected to the head fixed seat through a double fork connection device. The double fork connection device includes an upper fork connected to the X-axis rotating motor, and a lower fork is connected to the lower part of the upper fork through an inter-fork guide rail. The head fixing seat is connected to a replaceable head device, a control system is arranged in the console, a hand controller and a plurality of buttons are arranged on the console, and the control system is connected to the X-direction motion and driving mechanism, the Y-direction motion and driving mechanism, the Z-direction motion and driving mechanism, the X-axis rotation and driving mechanism, the Y-axis rotation and driving mechanism, the hand controller, and the buttons; The Y-axis rotation and driving mechanism includes a Y-axis motor seat connected to a fixed seat, a Y-axis rotating motor is arranged on the Y-axis motor seat, and the Y-axis rotating motor is connected to a bearing device through a screw assembly; The carrying device includes a crossbeam connected to a fixed seat, a swing arm assembly is installed on the crossbeam, the swing arm assembly includes a swing arm seat, a U-shaped frame is installed on the swing arm seat, a Y-axis movement and driving mechanism is installed on the U-shaped frame, a connecting assembly is arranged in the U-shaped frame, the connecting assembly is connected to the Y-axis rotation and driving mechanism, the connecting assembly includes a connecting block, and the connecting block is connected to the U-shaped frame through a swing arm shaft.

2. The minimally invasive spinal surgery robot for installing tunneled steel plates based on clip positioning according to claim 1, wherein: The X-direction motion and driving mechanism comprises an X-direction guide rail, an X-direction slider is arranged on the X-direction guide rail, a Z-direction motion and driving mechanism is installed on the X-direction slider, and the X-direction slider is connected to an X-direction motor at the same time.

3. The minimally invasive spinal surgery robot for installing tunneled steel plates based on clip positioning according to claim 1, characterized in that: The Z-direction motion and driving mechanism comprises a Z-direction guide rail, a Z-direction slider is arranged on the Z-direction guide rail, a fixing seat is installed on the Z-direction slider, and the Z-direction slider is connected to a Z-direction motor at the same time.

4. A minimally invasive spinal surgery robot for installing tunneled steel plates based on clip positioning according to claim 1, wherein: The Y-direction motion and driving mechanism includes a Y-direction guide rail, a Y-direction slider is arranged on the Y-direction guide rail, a Y-direction motor connected to the Y-direction slider is arranged at one end of the Y-direction guide rail, and the other end of the Y-direction guide rail is connected to the lower fork of the double-fork connecting device.

5. A minimally invasive spinal surgery robot for installing tunneled steel plates based on clip positioning according to claim 1, characterized in that: The X-axis rotation and driving mechanism includes an X-axis motor seat connected to the Y-axis motion and driving mechanism, an X-axis rotation motor is arranged on the X-axis motor seat, and the shaft of the X-axis rotation motor is connected to the upper fork of the double fork connecting device.

6. The minimally invasive spine surgery robot for installing tunneled steel plates based on clip positioning according to claim 1, wherein: An upper wire-binding groove is arranged at the rear end of the upper fork, an upper rotating shaft is arranged at the front end of the upper fork, a lower wire-binding groove is arranged at the rear end of the lower fork, and a lower rotating shaft is arranged at the front end of the lower fork.

7. A minimally invasive spinal surgery robot for installing tunneled steel plates based on clip-type positioning according to claim 1, characterized in that: The upper fork is connected to the upper rotating shaft hole of the machine head fixing seat through the upper rotating shaft, and the lower fork is connected to the lower rotating shaft hole of the machine head fixing seat through the lower rotating shaft.

8. A minimally invasive spine surgery robot for installing tunneled steel plates based on clip positioning according to claim 1, characterized in that: The trolley-type box body is provided with side rails, and external fixing hooks are installed on the side rails.

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