Orthopedic surgery robot-assisted positioning method and system

Abstract

The present invention relates to the technical field of medical equipment, and in particular to an orthopedic surgical robot-assisted positioning method and system; the method comprises a mounting frame, an operation panel, a display, a mechanical arm, a CT device and a driving mechanism, wherein the driving mechanism comprises a first driving component, a first sliding seat, a sliding arm, a second sliding seat, a second driving component, an electric push rod and a mounting table, wherein the first driving component is controlled to start by the operation panel, thereby driving the first sliding seat to slide on the cantilever, adjusting the CT device on the mechanical arm to move horizontally above the operating table, and controlling the second driving component to start, thereby driving the second sliding seat to slide on the sliding arm, adjusting the CT device on the mechanical arm to move longitudinally above the operating table, and when the CT device on the mechanical arm moves longitudinally and transversely above the operating table, the CT device can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining more comprehensive three-dimensional posture information of the patient.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an orthopedic surgery robot-assisted positioning method and system. Background Art

[0002] Before working, orthopedic surgical robots need to use a variety of different means such as intraoperative X-ray fluoroscopy, intraoperative or preoperative CT images, optical binocular tracking systems, etc. to obtain the patient's three-dimensional posture information and complete navigation and positioning functions. However, existing orthopedic surgical robot positioning devices require doctors to manually drag the mounting arm equipped with the imaging unit to complete perspective views at various angles and orientations, which is more cumbersome to operate.

[0003] In the prior art, a bracket is installed on one side of an operating table, a robotic arm and a control panel for controlling the movement of the robotic arm are installed on the bracket, a display is also provided on the bracket, and a CT device is provided at the output end of the robotic arm, so that the doctor can operate the control panel to control the movement of the robotic arm, and use the CT device on the robotic arm to take a picture of the patient on the operating table, thereby obtaining the patient's three-dimensional posture information and completing the navigation and positioning functions.

[0004] However, most of the existing orthopedic surgical robot positioning devices are fixedly installed on one side of the operating table, resulting in a small shooting range of the CT device on the robotic arm on the mounting bracket, and the obtained three-dimensional posture information of the patient is not comprehensive enough. Summary of the invention

[0005] The purpose of the present invention is to provide an orthopedic surgical robot-assisted positioning method and system to solve the problem that most of the orthopedic surgical robot positioning devices in the prior art are fixedly installed on one side of the operating table, resulting in a small shooting range of the CT device on the mechanical arm on the mounting bracket and the acquired three-dimensional posture information of the patient is not comprehensive enough.

[0006] To achieve the above-mentioned purpose, the present invention provides an orthopedic surgical robot-assisted positioning system, comprising a mounting frame, an operation panel, a display, a mechanical arm, a CT device and a driving mechanism, wherein the mounting frame is provided with the operation panel and the display, and the driving mechanism comprises a first driving assembly, a first sliding seat, a sliding arm, a second sliding seat, a second driving assembly, an electric push rod and a mounting table, the mounting frame comprises a frame body and a cantilever, the top end of the frame body is provided with the cantilever, the first sliding seat is slidably provided on the cantilever, the first driving assembly is also provided on the cantilever, the first driving assembly is used to control the first sliding seat to slide on the cantilever, the sliding arm is detachably connected to the first sliding seat and is located in the The first sliding seat is away from one end of the cantilever, the sliding arm and the cantilever are perpendicular to each other, the second sliding seat is slidably arranged on the sliding arm, the sliding arm is also provided with the second driving assembly, the second driving assembly is used to drive the second sliding seat to slide on the sliding arm, the electric push rod is arranged at one end of the second sliding seat away from the sliding arm, the mounting table is arranged at the output end of the electric push rod, the mechanical arm is arranged on the mounting table, the mechanical arm is located above the operating table, the CT device is arranged at the output end of the mechanical arm, the first driving assembly, the second driving assembly and the mechanical arm are all electrically connected to the operation panel, and the CT device is electrically connected to the display.

[0007] Among them, the first sliding seat includes a placement plate, two vertical plates and a top plate, and slide grooves are arranged on both sides of the cantilever. The placement plate is located below the cantilever, and the vertical plates are arranged on both sides of the placement plate. A sliding block is arranged in the middle of each of the vertical plates, and the sliding block is slidably connected to the slide groove. The top plate is arranged at one end of the two vertical plates away from the placement plate, and the top plate is located above the cantilever, and the output end of the first driving component corresponds to the top plate.

[0008] Among them, the first driving assembly includes a first servo motor, a first screw rod and a first screw rod sleeve. The first servo motor is detachably connected to the cantilever and is located at an end of the cantilever away from the frame body. The first screw rod is arranged at the output end of the first servo motor, and the first screw rod sleeve is arranged on the first screw rod. The first screw rod sleeve is detachably connected to the top plate.

[0009] Among them, the second driving assembly includes a second servo motor, a second screw rod and a second screw rod sleeve. The second servo motor is detachably connected to the sliding arm and is located at one end of the sliding arm. The output end of the second servo motor is provided with the second screw rod, and the second screw rod sleeve is provided on the second screw rod. The second screw rod sleeve is detachably connected to the second sliding seat.

[0010] Among them, the orthopedic surgical robot-assisted positioning system also includes a support assembly, and the support assembly includes a first support member and a second support member, one end of the first support member is detachably connected to the cantilever, and the other end of the first support member is sleeved on the outside of the first screw rod, and the first support member is located at the end of the first screw rod away from the first servo motor, one end of the second support member is detachably connected to the sliding arm, and the other end of the second support member is sleeved on the outside of the second screw rod, and the second support member is located at the end of the second screw rod away from the second servo motor.

[0011] Among them, the first support member and the second support member each include a base plate, a support plate and a support ring, one end of the support plate is fixedly connected to the base plate, the other end of the support plate is fixedly connected to the support ring, the base plate is detachably connected to the corresponding cantilever and the sliding arm, and the support ring is sleeved on the outside of the corresponding first screw rod and the second screw rod.

[0012] The present invention also provides an orthopedic surgery robot-assisted positioning method, which is applied to the orthopedic surgery robot-assisted positioning system as described above, and the steps are as follows:

[0013] The medical staff controls the first driving assembly to start through the operation panel, thereby driving the first sliding seat to slide on the cantilever, and then adjusting the CT device on the mechanical arm to move horizontally above the operating table;

[0014] The medical staff controls the second driving assembly to start through the operation panel, thereby driving the second sliding seat to slide on the sliding arm, thereby adjusting the CT device on the mechanical arm to move longitudinally above the operating table;

[0015] When the CT device on the robotic arm moves longitudinally and laterally above the operating table, the movement of the robotic arm is controlled by the operation panel to adjust the shooting angle of the CT device, so that the CT device can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining the patient's three-dimensional posture information and completing the navigation and positioning functions of the surgical robot.

[0016] An orthopedic surgical robot-assisted positioning method and system of the present invention includes a mounting frame, an operating panel, a display, a mechanical arm, a CT device and a driving mechanism, wherein the driving mechanism includes a first driving component, a first sliding seat, a sliding arm, a second sliding seat, a second driving component, an electric push rod and a mounting table. Medical staff control the first driving component to start through the operating panel, thereby driving the first sliding seat to slide on the cantilever, and then adjusting the CT device on the mechanical arm to move horizontally above the operating table, and control the second driving component to start through the operating panel, thereby driving the second sliding seat to slide on the sliding arm, and then adjusting the CT device on the mechanical arm to move longitudinally above the operating table, so that when the CT device on the mechanical arm moves longitudinally and transversely above the operating table, the CT device can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining more comprehensive three-dimensional posture information of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a side view of the orthopedic surgery robot-assisted positioning system in the first embodiment of the present invention.

[0019] Figure 2 It is a structural schematic diagram of the orthopedic surgery robot-assisted positioning system in the first embodiment of the present invention.

[0020] Figure 3 The present invention provides Figure 2 A magnified view of the local structure at A.

[0021] Figure 4 The present invention provides Figure 2 A magnified view of the local structure at B.

[0022] Figure 5 It is a schematic diagram of the structure of the orthopedic surgery robot-assisted positioning system in the second embodiment of the present invention.

[0023] Figure 6 The present invention provides Figure 5 A magnified view of the local structure at C.

[0024] Figure 7 It is a schematic diagram of the structure of the orthopedic surgery robot-assisted positioning system in the third embodiment of the present invention.

[0025] Figure 8 The present invention provides Figure 7 A magnified view of the local structure at D.

[0026] Fig. 9 It is a flow chart of the steps of the orthopedic surgery robot-assisted positioning method provided by the present invention.

[0027] 101-mounting frame, 102-operation panel, 103-display, 104-mechanical arm, 105-CT device, 106-first drive assembly, 107-first sliding seat, 108-sliding arm, 109-second sliding seat, 110-second drive assembly, 111-electric push rod, 112-mounting table, 113-placing plate, 114-vertical plate, 115-top plate, 116-first servo motor, 117-first screw rod, 118-first screw rod sleeve, 119-second servo motor, 120-second screw, 121-second screw sleeve, 122-frame, 123-cantilever, 124-slide groove, 125-sliding block, 201-first support member, 202-second support member, 203-bottom plate, 204-support plate, 205-support ring, 301-rotating assembly, 302-drive motor, 303-reducer, 304-output gear, 305-installation frame, 306-installation shell, 307-transmission gear. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] First embodiment:

[0030] See also Figures 1 to 4 ,in Figure 1 is a side view of the orthopedic surgery robot-assisted positioning system in the first embodiment, Figure 2 is a schematic diagram of the structure of the orthopedic surgery robot-assisted positioning system in the first embodiment, Figure 3 yes Figure 2 A magnified view of the local structure at A. Figure 4 yes Figure 2The present invention provides an orthopedic surgical robot-assisted positioning system, comprising a mounting frame 101, an operating panel 102, a display 103, a mechanical arm 104, a CT device 105 and a driving mechanism, wherein the driving mechanism comprises a first driving assembly 106, a first sliding seat 107, a sliding arm 108, a second sliding seat 109, a second driving assembly 110, an electric push rod 111 and a mounting table 112, wherein the first sliding seat 107 comprises a placement plate 113, two vertical plates 114 and a top plate 115, wherein the first driving assembly 106 comprises a first servo motor 116, a first screw rod 117 and a first screw rod sleeve 118, and wherein the second driving assembly 110 comprises a second servo motor 119, a second screw rod 120 and a second screw rod sleeve 121.

[0031] According to this specific embodiment, the operation panel 102 and the display 103 are arranged on the mounting frame 101, and the mounting frame 101 includes a frame body 122 and a cantilever 123. The cantilever 123 is arranged at the top of the frame body 122, and the first sliding seat 107 is slidably arranged on the cantilever 123. The first driving component 106 is also arranged on the cantilever 123, and the first driving component 106 is used to control the first sliding seat 107 to slide on the cantilever 123. The sliding arm 108 is detachably connected to the first sliding seat 107 and is located at the The first sliding seat 107 is away from the end of the cantilever 123, the sliding arm 108 is perpendicular to the cantilever 123, the second sliding seat 109 is slidably arranged on the sliding arm 108, and the second driving assembly 110 is also arranged on the sliding arm 108. The second driving assembly 110 is used to drive the second sliding seat 109 to slide on the sliding arm 108. The electric push rod 111 is arranged at the end of the second sliding seat 109 away from the sliding arm 108, and the output end of the electric push rod 111 is provided with the mounting platform 112. The mechanical arm 104 is provided on the operating table 12, and the mechanical arm 104 is located above the operating table. The output end of the mechanical arm 104 is provided with the CT device 105. The first driving component 106, the second driving component 110 and the mechanical arm 104 are all electrically connected to the operation panel 102, and the CT device 105 is electrically connected to the display 103. The medical staff controls the first driving component 106 to start through the operation panel 102, thereby driving the first sliding seat 107 to slide on the cantilever 123, and then adjusting the mechanical arm 104. The CT device 105 on the robot arm 104 moves laterally above the operating table, and the second driving assembly 110 is started by controlling the operation panel 102, thereby driving the second sliding seat 109 to slide on the sliding arm 108, and then adjusting the CT device 105 on the robot arm 104 to move longitudinally above the operating table, so that when the CT device 105 on the robot arm 104 moves longitudinally and laterally above the operating table, the CT device 105 can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining more comprehensive three-dimensional posture information of the patient.

[0032] Among them, slide grooves 124 are provided on both sides of the cantilever 123, the placement plate 113 is located below the cantilever 123, the vertical plates 114 are provided on both sides of the placement plate 113, and a sliding block 125 is provided in the middle of each of the vertical plates 114, and the sliding block 125 is slidably connected with the slide groove 124, and the two vertical plates 114 are provided with the top plate 115 at one end away from the placement plate 113, and the top plate 115 is located above the cantilever 123, and the output end of the first driving component 106 corresponds to the top plate 115, and the sliding block 125 on the vertical plate 114 is slidably connected with the slide groove 124, so that the first sliding seat 107 slides on the cantilever 123, and the two vertical plates 114 are fixedly connected to the placement plate 113, and the sliding block 125 is fixedly connected to the vertical plate 114. It is made by one-piece molding technology during manufacturing, and the structure is more solid.

[0033] Secondly, the first servo motor 116 is detachably connected to the cantilever 123 and is located at one end of the cantilever 123 away from the frame 122. The first screw rod 117 is provided at the output end of the first servo motor 116. The first screw rod sleeve 118 is provided on the first screw rod 117. The first screw rod sleeve 118 is detachably connected to the top plate 115. The first servo motor 116 is started to drive the first screw rod 117 to rotate. Since the first screw rod sleeve 118 is detachably connected to the top plate 115, the first sliding seat 107 is driven to slide on the cantilever 123.

[0034] At the same time, the second servo motor 119 is detachably connected to the sliding arm 108 and is located at one end of the sliding arm 108. The second screw rod 120 is provided at the output end of the second servo motor 119. The second screw rod 120 is provided with the second screw rod sleeve 121. The second screw rod sleeve 121 is detachably connected to the second sliding seat 109. The second servo motor 119 is started to drive the second screw rod 120 to rotate. Since the second screw rod sleeve 121 is detachably connected to the second sliding seat 109, the second sliding seat 109 is driven to slide on the sliding arm 108.

[0035] When using an orthopedic surgical robot-assisted positioning system of this embodiment, the medical staff starts the first servo motor 116 through the operation panel 102 to drive the first screw rod 117 to rotate. Since the first screw rod sleeve 118 is detachably connected to the top plate 115, the first sliding seat 107 is driven to slide on the cantilever 123, thereby adjusting the CT device 105 on the robotic arm 104 to move horizontally above the operating table. The medical staff also starts the second servo motor 119 through the operation panel 102 to drive the second screw rod 120 to rotate. Since the second screw rod sleeve 121 is detachably connected to the second sliding seat 109, the second sliding seat 109 is driven to slide on the sliding arm 108, thereby adjusting the CT device 105 on the robotic arm 104 to move longitudinally above the operating table, so that when the CT device 105 on the robotic arm 104 moves longitudinally and transversely above the operating table, the CT device 105 can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining more comprehensive three-dimensional posture information of the patient.

[0036] Second embodiment:

[0037] Based on the first embodiment, please refer to Figure 5 and Figure 6 , Figure 5 is a schematic diagram of the structure of the orthopedic surgery robot-assisted positioning system in the second embodiment, Figure 6 for Figure 5 The present invention provides an orthopedic surgery robot-assisted positioning system, which also includes a support assembly, wherein the support assembly includes a first support member 201 and a second support member 202, wherein the first support member 201 and the second support member 202 both include a base plate 203, a support plate 204 and a support ring 205.

[0038] According to this specific embodiment, one end of the first support member 201 is detachably connected to the cantilever 123, and the other end of the first support member 201 is sleeved on the outside of the first screw rod 117. The first support member 201 is located at the end of the first screw rod 117 away from the first servo motor 116. One end of the second support member 202 is detachably connected to the sliding arm 108, and the other end of the second support member 202 is sleeved on the outside of the second screw rod 120. The second support member 202 is located at the end of the second screw rod 120 away from the second servo motor 119. The first support member 201 is arranged at the end of the first screw rod 117 away from the first servo motor 116, and the first support member 201 is used to support the first screw rod 117, so that the structure of the first screw rod 117 is more stable during rotation. The second support member 202 is arranged at the end of the second screw rod 120 away from the second servo motor 119, and the second support member 202 is used to support the second screw rod 120, so that the structure of the second screw rod 120 is more stable during rotation.

[0039] Among them, one end of the support plate 204 is fixedly connected to the base plate 203, and the other end of the support plate 204 is fixedly connected to the support ring 205. The base plate 203 is detachably connected to the corresponding cantilever 123 and the sliding arm 108. The support ring 205 is sleeved on the outside of the corresponding first screw rod 117 and the second screw rod 120. The base plate 203 and the support ring 205 are both fixedly connected to the support plate 204. They are manufactured using one-piece molding technology, and the structure is more solid.

[0040] When using an orthopedic surgical robot-assisted positioning system of the present embodiment, the first support member 201 is arranged at the end of the first screw rod 117 away from the first servo motor 116, and the first support member 201 is used to support the first screw rod 117, so that the structure of the first screw rod 117 is more stable during the rotation process, and the second support member 202 is arranged at the end of the second screw rod 120 away from the second servo motor 119, and the second support member 202 is used to support the second screw rod 120, so that the structure of the second screw rod 120 is more stable during the rotation process, and because the first support member 201 and the second support member 202 both include a base plate 203, a support plate 204 and a support ring 205, the base plate 203 and the support ring 205 are fixedly connected to the support plate 204, and are made using an integrated molding technology during manufacturing, and the structure is more solid.

[0041] Third embodiment:

[0042] Based on the first embodiment, please refer to Figure 7 and Figure 8 , Figure 7 is a schematic diagram of the structure of the orthopedic surgery robot-assisted positioning system in the third embodiment, Figure 8 yes Figure 7 The present invention provides an orthopedic surgery robot-assisted positioning system, which also includes a rotating assembly 301 . The rotating assembly 301 includes a driving motor 302 , a reducer 303 and an output gear 304 .

[0043] According to this specific embodiment, a mounting frame 305 is provided on the side of the frame 122 close to the operating table, and a mounting shell 306 is movably provided inside the mounting frame 305. A transmission gear 307 is provided on one of the rotating shafts of the mounting shell 306. The output end of the rotating component 301 is mechanically transmitted with the transmission gear 307. The display 103 is installed on the mounting shell 306. The rotating component 301 is electrically connected to the operating panel 102. Medical staff starts the rotating component 301 through the operating panel 102, and drives the transmission gear 307 to rotate through the rotating component 301, thereby driving the mounting shell 306 on which the display 103 is installed to rotate on the mounting frame 305, thereby adjusting the orientation of the display 103 to an appropriate position, which is more applicable.

[0044] Among them, the driving motor 302 is detachably connected to the mounting frame 305, and the output end of the driving motor 302 is provided with the reducer 303, and the output end of the reducer 303 is provided with the output gear 304, and the output gear 304 is meshed with the transmission gear 307. When the driving motor 302 is started, the output speed is slowed down by the reducer 303, and the output gear 304 is driven to rotate. Since the output gear 304 is meshed with the transmission gear 307, the transmission gear 307 is driven to rotate.

[0045] When using an orthopedic surgical robot-assisted positioning system according to the present embodiment, medical staff starts the drive motor 302 through the operation panel 102, and after using the reducer 303 to slow down the output speed, drives the output gear 304 to rotate. Since the output gear 304 is meshed with the transmission gear 307, the transmission gear 307 is driven to rotate, and then the mounting shell 306 on which the display 103 is installed is driven to rotate on the mounting frame 305, and the orientation of the display 103 is adjusted to an appropriate position, which is more applicable.

[0046] See also Fig. 9 The present invention also provides an orthopedic surgery robot-assisted positioning method, which is applied to the orthopedic surgery robot-assisted positioning system as described above, and the steps are as follows:

[0047] S1: The medical staff controls the first driving assembly 106 to start through the operation panel 102, thereby driving the first sliding seat 107 to slide on the cantilever 123, and then adjusting the CT device 105 on the mechanical arm 104 to move horizontally above the operating table;

[0048] S2: The medical staff controls the second driving assembly 110 to start through the operation panel 102, thereby driving the second sliding seat 109 to slide on the sliding arm 108, thereby adjusting the CT device 105 on the mechanical arm 104 to move longitudinally above the operating table;

[0049] S3: When the CT device 105 on the robotic arm 104 moves longitudinally and transversely above the operating table, the movement of the robotic arm 104 is controlled by the operation panel 102, thereby adjusting the shooting angle of the CT device 105, so that the CT device 105 can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining the patient's three-dimensional posture information and completing the navigation and positioning functions of the surgical robot.

[0050] In this embodiment, the medical staff starts the first servo motor 116 through the operation panel 102 to drive the first screw rod 117 to rotate. Since the first screw rod sleeve 118 is detachably connected to the top plate 115, the first sliding seat 107 is driven to slide on the cantilever 123, thereby adjusting the CT device 105 on the robotic arm 104 to move laterally above the operating table. The medical staff also starts the second servo motor 119 through the operation panel 102 to drive the second screw rod 120 to rotate. Since the second screw rod sleeve 121 is detachably connected to the second sliding seat 109, the second sliding seat 109 is driven to slide on the sliding arm 108, thereby adjusting the CT device 105 on the robotic arm 104 to move longitudinally above the operating table, so that when the CT device 105 on the robotic arm 104 moves longitudinally and transversely above the operating table, the CT device 105 can more comprehensively capture the X-ray image of the patient on the operating table, thereby obtaining more comprehensive three-dimensional posture information of the patient.

[0051] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. An orthopedic surgery robot-assisted positioning system, comprising a mounting frame, an operation panel, a display, a robotic arm and a CT device, wherein the mounting frame is provided with the operation panel and the display, and characterized in that: Also includes a drive mechanism; The driving mechanism comprises a first driving assembly, a first sliding seat, a sliding arm, a second sliding seat, a second driving assembly, an electric push rod and a mounting table, the mounting frame comprises a frame body and a cantilever, the cantilever is provided at the top of the frame body, the first sliding seat is slidably provided on the cantilever, the first driving assembly is also provided on the cantilever, the first driving assembly is used to control the first sliding seat to slide on the cantilever, the sliding arm is detachably connected to the first sliding seat and is located at an end of the first sliding seat away from the cantilever, the sliding arm and the cantilever are perpendicular to each other, the second sliding seat is slidably provided on the sliding arm, the second driving assembly is also provided on the sliding arm, the second driving assembly is used to drive the second sliding seat to slide on the sliding arm, the electric push rod is provided at an end of the second sliding seat away from the sliding arm, the mounting table is provided at the output end of the electric push rod, the mechanical arm is provided on the mounting table, the mechanical arm is located above the operating table, the CT device is provided at the output end of the mechanical arm, the first driving assembly, the second driving assembly and the mechanical arm are all electrically connected to the operation panel, and the CT device is electrically connected to the display; The first sliding seat comprises a placement plate, two vertical plates and a top plate, slide grooves are arranged on both sides of the cantilever, the placement plate is located below the cantilever, the vertical plates are arranged on both sides of the placement plate, a sliding block is arranged in the middle of each vertical plate, the sliding block is slidably connected with the slide groove, the top plate is arranged at one end of the two vertical plates away from the placement plate, the top plate is located above the cantilever, and the output end of the first driving component corresponds to the top plate; The first driving assembly includes a first servo motor, a first screw rod and a first screw rod sleeve, the first servo motor is detachably connected to the cantilever and is located at an end of the cantilever away from the frame, the first screw rod is provided at the output end of the first servo motor, the first screw rod is provided on the first screw rod, and the first screw rod sleeve is detachably connected to the top plate; The second driving assembly includes a second servo motor, a second screw rod and a second screw rod sleeve, the second servo motor is detachably connected to the sliding arm and is located at one end of the sliding arm, the second screw rod is provided at the output end of the second servo motor, the second screw rod is provided on the second screw rod, and the second screw rod sleeve is detachably connected to the second sliding seat; The orthopedic surgical robot-assisted positioning system also includes a support assembly, the support assembly includes a first support member and a second support member, one end of the first support member is detachably connected to the cantilever, the other end of the first support member is sleeved on the outside of the first screw rod, the first support member is located at the end of the first screw rod away from the first servo motor, one end of the second support member is detachably connected to the sliding arm, the other end of the second support member is sleeved on the outside of the second screw rod, and the second support member is located at the end of the second screw rod away from the second servo motor; The first support member and the second support member each include a base plate, a support plate and a support ring, one end of the support plate is fixedly connected to the base plate, the other end of the support plate is fixedly connected to the support ring, the base plate is detachably connected to the corresponding cantilever and the sliding arm, and the support ring is sleeved on the outside of the corresponding first screw rod and the second screw rod.

Images