Dual-arm knee replacement robot with extended shaft

Abstract

This application relates to a dual-arm knee replacement robot with an extended axis, comprising: a robot body, a drive unit, an extended movement mechanism, an auxiliary fixation arm, and a limb fixation unit. The drive unit is mounted on the robot body. The extended movement mechanism is connected to the drive unit and is located on one side of the robot body. The front end of the auxiliary fixation arm is mounted on the extended movement mechanism, and the end end is fitted with the limb fixation unit. The drive unit drives the auxiliary fixation arm to reciprocate or fix itself along a preset trajectory in the circumference of the robot body. By providing an extended movement mechanism on one side of the robot body, it can reciprocate within a preset trajectory in the circumference of the robot body, enabling automatic configuration of the auxiliary fixation arm on the left and right sides of the robot body. This allows the extended movement mechanism to be adjusted to the left position, increasing the application flexibility of the dual-arm knee replacement robot with an extended axis and improving its ease of use.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a dual-arm knee replacement robot with an extension shaft. Background Technology

[0002] Existing knee replacement robot products, both domestically and internationally, are all single-arm, spatial positioning, tracking, and navigation solutions. In clinical applications, this approach often requires additional bedside attachments to stabilize the distal end of the patient's limb. The conventional solution involves setting up a patient footrest and strapping it to the ankle of the affected limb, then using the footrest to fix the distal end of the limb to the guide rails of the bedside attachment. The patient's limb flexion and extension posture can be manually adjusted as needed to facilitate knee replacement surgery.

[0003] Existing single-arm robot solutions mainly participate in the precise positioning and bone reshaping process during surgery. However, there are no systematic solutions for fixing the patient's left or right affected limb, collecting and supporting intraoperative kinematic analysis data, and the bed attachments designed by some manufacturers have poor adaptability and cannot achieve automatic configuration to adapt to the patient's left or right affected limb. Summary of the Invention

[0004] In view of this, this application proposes a dual-arm knee replacement robot with an extended axis, comprising a robot body, a drive unit, an extended movement mechanism, an auxiliary fixation arm, and a limb fixation part; the drive unit is mounted on the robot body; the extended movement mechanism is connected to the drive unit and is disposed on one side of the robot body; the front end of the auxiliary fixation arm is disposed on the extended movement mechanism, and the end end is fitted with the limb fixation part; the drive unit drives the extended movement mechanism to move, thereby driving the auxiliary fixation arm to reciprocate or fix along a preset trajectory in the circumferential direction of the robot body, in order to adapt to the position of the patient's left or right limb.

[0005] In one possible implementation, the system further includes a main surgical arm and a bone-grinding assembly; the front end of the main surgical arm is mounted on the top of the robot body and does not interfere with the auxiliary fixation arm; the bone-grinding assembly is mounted on the end of the main surgical arm.

[0006] In one possible implementation, the drive unit is disposed inside the robot body; the extended movement mechanism includes a transmission arm and a moving body; one end of the transmission arm is connected to the output end of the drive unit, and the other end extends outward and connects to the auxiliary fixed arm.

[0007] In one possible implementation, the robot body includes a base module and a top module; the base module has a columnar structure with casters at the bottom and locking components that match the casters, and the drive unit is mounted on top of the base module; the top module has a columnar structure and is fixedly mounted on the base module, and the surgical arm is mounted on the upper part of the top module.

[0008] In one possible implementation, the drive unit includes a motor and a reducer; the drive unit and the extended moving unit are connected by a transmission assembly, the transmission assembly including a first gear, a main shaft, and a second gear; the motor is connected to the reducer; the first gear is longitudinally disposed at the output end of the reducer; the main shaft is longitudinally disposed beside the motor; the second gear is sleeved and fixed on the main shaft and meshes with the first gear, and the transmission arm is fixed to the main shaft; a support arm connecting seat is provided on the outer side of the moving body, and the support arm connecting seat is detachably connected to the auxiliary fixed arm.

[0009] In one possible implementation, the top module has an arc-shaped sidewall on the side where the extended moving mechanism is mounted; the moving body has an arc-shaped sheet structure, the same as the arc-shaped sidewall of the top module.

[0010] In one possible implementation, a guide groove adapted to the preset trajectory is laterally formed on the arc-shaped sidewall of the top module, and the corresponding position on the transmission arm matches the structure of the guide groove.

[0011] In one possible implementation, the main surgical arm is positioned adjacent to the side of the robot body where the auxiliary fixing arm is mounted, and the main surgical arm is located above the centerline of the preset trajectory.

[0012] In one possible implementation, the robot body further includes a main control module; an encoder is provided on the drive unit; the main control module is electrically connected to the drive unit and the encoder respectively; a position adjustment switch is provided on the top of the robot body and is electrically connected to the main control module for adjusting the left and right positions of the auxiliary fixed arm.

[0013] In one possible implementation, a tracking display device is also included; the tracking display device has a working column in the middle, and a spatial positioning device and a display terminal are installed on the working column; the spatial positioning device is installed on a multi-axis balancing bracket at the top of the working column and is electrically connected to the main control module; the display terminal, the spatial positioning device, and the main control module are suitable for electrical connection with the system host.

[0014] The beneficial effects of this application are as follows: By providing an extended movement mechanism on one side of the robot body, the robot body can reciprocate within a preset trajectory in the circumference of the robot body, enabling the auxiliary fixation arm to automatically configure itself on the left or right side of the robot body. Specifically, the extended movement mechanism can be adjusted to the left side to fix the patient's left limb, or to the right side to fix the patient's right limb. This increases the application flexibility of the dual-arm knee replacement robot with an extended axis, effectively improving the ease of use of the device.

[0015] Furthermore, the installation of auxiliary fixation arms and limb fixation parts on the extended mobile mechanism can not only firmly fix the distal end of the patient's limb, but also assist in the lifting and inspection of the patient's limb during the surgical procedure, greatly facilitating the surgery, optimizing the surgical process, increasing the participation of the equipment in the surgery, and improving the overall automation level of the machine, shortening the operation time, improving the surgical precision, and making it easier for the surgeon to complete the knee replacement surgery with high quality.

[0016] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0018] Figure 1 A three-dimensional structural schematic diagram of a dual-arm knee replacement robot with an extension shaft according to an embodiment of this application is shown;

[0019] Figure 2 A perspective structural schematic diagram of a base module according to an embodiment of this application is shown;

[0020] Figure 3 A perspective structural schematic diagram showing the transmission connection between the drive unit and the extended moving mechanism according to an embodiment of this application is shown.

[0021] Figure 4 The specific circuit structure of the main control module according to an embodiment of this application is shown. Detailed Implementation

[0022] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0023] It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application or to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0026] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0027] Figure 1 A three-dimensional structural schematic diagram of a dual-arm knee replacement robot with an extension shaft according to an embodiment of this application is shown; Figure 2 A perspective structural schematic diagram of a base module according to an embodiment of this application is shown;

[0028] Figure 3 A perspective structural schematic diagram showing the transmission connection between the drive unit and the extended moving mechanism according to an embodiment of this application is shown. Figure 4 The specific circuit structure of the main control module according to an embodiment of this application is shown.

[0029] like Figures 1-3As shown, the dual-arm knee replacement robot with an extended axis includes: a robot body 1, a drive unit, an extended movement mechanism 2, an auxiliary fixation arm 3, and a limb fixation part 6; the drive unit is mounted on the robot body 1; the extended movement mechanism 2 is connected to the drive unit and is located on one side of the robot body 1; the front end of the auxiliary fixation arm 3 is located on the extended movement mechanism 2, and the end end is equipped with the limb fixation part 6; the drive unit drives the extended movement mechanism 2 to move, thereby driving the auxiliary fixation arm 3 to move or be fixed along a preset trajectory in the circumference of the robot body 1, in order to adapt to the position of the patient's left or right limb.

[0030] In this embodiment, by providing an extended movement mechanism 2 on one side of the robot body 1, the robot body 1 can reciprocate within a preset trajectory in its circumference. This allows the auxiliary fixing arm 3 to be automatically configured on the left and right sides of the robot body 1. Specifically, the extended movement mechanism 2 can be adjusted to the left side to fix the patient's left limb, or to the right side to fix the patient's right limb. This increases the application flexibility of the dual-arm knee replacement robot with an extended axis, effectively improving the ease of use of the device.

[0031] Furthermore, the auxiliary fixation arm 3 and the affected limb fixation part 6 are installed on the extended mobile mechanism 2, which can not only firmly fix the distal end of the patient's limb, but also assist in the lifting and inspection of the patient's limb in the surgical process, which greatly facilitates the operation, optimizes the surgical process, increases the participation of the equipment in the operation, and improves the automation level of the whole machine, shortens the operation time, improves the surgical precision, and makes it easier for the surgeon to complete the knee replacement surgery with high quality.

[0032] It should be noted that, in this application, left and right refer to two sides of the robot body 1 in the circumference. The "preset trajectory" referred to in this application has at least fixed points on the left and right sides of the robot body 1, which are used to adapt to the patient's left and right limbs respectively.

[0033] The fixation part 6 of the affected limb is usually a tubular structure, which is fixed by binding with straps or the like. This can be achieved using existing technology, so no more specific limitations are made in this application.

[0034] In one specific embodiment, the system also includes a main surgical arm 4 and a bone-grinding assembly 5; the front end of the main surgical arm 4 is mounted on the top of the robot body 1 and does not interfere with the auxiliary fixing arm 3; the bone-grinding assembly 5 is mounted on the end of the main surgical arm 4.

[0035] In this embodiment, the main surgical arm 4 is mounted on the top of the robot body 1 and can cooperate with the auxiliary fixation arm 3 to complete the knee replacement surgery through the bone grinding component 5 installed at the end of the main surgical arm 4.

[0036] It should be noted that in this application, the main purpose is to increase the fixed position of the auxiliary fixation arm 3 by installing the extended moving mechanism 2. The mechanical arm structure on the bone grinding component 5, the auxiliary fixation arm 3, and the main surgical arm 4 can be achieved using existing technologies, so they will not be described in detail here.

[0037] In one specific embodiment, the drive unit is located inside the robot body 1; the extended movement mechanism 2 includes a transmission arm and a moving body 13; one end of the transmission arm is connected to the output end 22 of the drive unit, and the other end extends outward and is connected to the auxiliary fixed arm 3.

[0038] In this embodiment, the extended moving mechanism 2 includes a transmission arm and a moving body 13. One end of the transmission arm is a fixed end connected to the output end 22 of the drive unit. By setting the output end 22 of the drive unit to rotate forward and backward within a certain angle, the rotating end of the transmission arm can move along the circumference of the robot body 1.

[0039] In one specific embodiment, the robot body 1 includes a base module 1-2 and a top module 1-1; the base module 1-2 has a columnar structure, with casters 11 at the bottom and locking components 12 that match the casters 11, and the drive unit is installed above the base module 1-2; the top module 1-1 has a columnar structure and is fixedly installed on the base module 1-2, and the surgical main arm 4 is installed on the upper part of the top module 1-1.

[0040] In this embodiment, the robot body 1 includes a base module 1-2 and a top module 1-1. The robot body 1, which is divided into two modules, is convenient for production, transportation and assembly. For example, multiple components located on the base module 1-2 or on the base module 1-2 can be installed separately for assembly first, and then the base module 1-2 and the top module 1-1 can be assembled into one to form the robot body 1, thus completing the overall assembly of the robot body 1.

[0041] More specifically, the drive unit is installed on the top of the base module 1-2 near the center, and the extended moving mechanism 2 is installed on the top of the base module 1-2 and extends to one side of the base module 1-2. The top module 1-1 is completely covered above the bottom module. The side wall structure at the connection between the base module 1-2 and the top module 1-1 matches, and there is an installation space between the top module 1-1 and the base module 1-2 to provide space for the drive unit, transmission components and other components, thereby increasing the rationality of the equipment. The main surgical arm 4 is installed on the upper surface of the top module 1-1, and the installation position of the main surgical arm 4 is close to the side of the robot body 1 where the extended moving mechanism 2 is set, which makes it convenient for the surgeon to coordinate the main surgical arm 4 and the auxiliary fixed arm 3 during surgery, ensuring that the two do not interfere with each other during use.

[0042] In one specific embodiment, the drive unit includes a motor 23 and a reducer 21; the drive unit and the extended moving mechanism 2 are connected by a transmission assembly, which includes a first gear 16, a main shaft 15 and a second gear 24; the motor 23 is connected to the reducer 21; the first gear 16 is longitudinally arranged at the output end 22 of the reducer 21; the main shaft 15 is longitudinally arranged beside the motor 23; the second gear 24 is sleeved and fixed on the main shaft 15 and meshes with the first gear 16, and the transmission arm is fixed to the main shaft 15; a support arm connecting seat is provided on the outer side of the moving body 13, and the support arm connecting seat is detachably connected to the auxiliary fixing arm 3.

[0043] In this embodiment, preferably, the motor 23 is a stepper motor 23 or a common DC motor 23. Both types of control are open-loop, which are prone to low-frequency vibration when running at low speed, making them unsuitable for applications requiring high positional accuracy.

[0044] In one specific embodiment, the base module 1-2 has a cylindrical structure with a small portion cut off along its axial direction. The cylindrical arc edge of the base portion is a superior arc, and the extension and moving mechanism 2 is installed on one side of this superior arc of the base module 1-2. The top module 1-1 has a similar structure to the base module 1-2, also being a cylindrical structure with a small portion cut off along its axial direction. The cut-off portion saves materials and costs while reducing the space occupancy of the device. Furthermore, the cylindrical base module 1-2 has recessed structures on both its left and right sides, meaning that the width of the base module 1-2 gradually decreases from the top and bottom to the middle, making the base module 1-2 more lightweight and further saving materials, thus reasonably avoiding the bulkiness of the device.

[0045] More specifically, the main shaft 15 is longitudinally mounted on the top of the base module 1-2 via the bearing 14, and is located at the axis where a small portion of the cylinder has been removed, ensuring that the moving body 13 located outside the base module 1-2 can reciprocate along its circumference. Preferably, the bearing 14 is a single crossed roller bearing 14, the first gear 16 is a helical gear connected to the output shaft of the reducer 21, and the second gear 24 is a helical bevel gear sleeved and fixed on the main shaft 15. The first gear 16 and the second gear 24 are arranged perpendicularly and mesh with each other so that when connected to the output end 22, the first gear 16 transmits power to the second gear 24, and the second gear 24 drives the main shaft 15 and the transmission arm to swing together.

[0046] The transmission method of meshing helical gears and helical bevel gears is characterized by high precision and low noise, making it particularly suitable for applications such as surgery.

[0047] It should also be noted that, in addition to helical gear meshing, the transmission component of this application can also use worm gears, spur gears meshing with internal gears, synchronous belts or synchronous chains for transmission, all of which can be achieved using existing technologies. Preferably, it is only necessary to ensure that the main shaft 15 of this multiple transmission method is located at the axial center of the base module 1-2. Therefore, the multiple transmission structures will not be described in detail in this article.

[0048] In one specific embodiment, the top module 1-1 has an arc-shaped sidewall on the side where the extended moving mechanism 2 is installed; the moving body 13 has an arc-shaped sheet structure, which is the same as the arc-shaped sidewall of the top module 1-1.

[0049] In this embodiment, the moving body 13 is a square sheet structure with an arc shape, and the arc shape of the sheet structure is consistent with the arc shape on the base module 1-2.

[0050] In one specific embodiment, a guide groove adapted to a preset trajectory is laterally opened on the arc-shaped sidewall of the top module 1-1, and the corresponding position on the transmission arm matches the structure of the guide groove.

[0051] In this embodiment, a guide groove is provided on the arc-shaped sidewall of the top module 1-1 so that the rotating end of the transmission arm extends out of the robot body 1 through the guide groove. The section of the transmission arm located in the guide groove matches the guide groove, which improves the stability of the extended moving part during movement and the reliability of the fixed part without displacement.

[0052] In one specific embodiment, the main surgical arm 4 is positioned adjacent to the side of the robot body 1 where the auxiliary fixing arm 3 is installed, and the main surgical arm 4 is located directly above the midpoint of the preset trajectory.

[0053] In this embodiment, it should be noted that the main surgical arm 4 is located directly above the midpoint of the preset trajectory, that is, the main surgical arm 4 is located directly above the midpoint of the guide groove, which makes it easier to achieve symmetrical left and right movement on the robot body 1.

[0054] In one specific embodiment, the robot body 1 also includes a main control module; an encoder 20 is provided on the drive unit; the main control module is electrically connected to the drive unit and the encoder 20 respectively; a position adjustment switch 26 is provided on the top of the robot body 1, which is electrically connected to the main control module, and is used to adjust the left and right positions of the auxiliary fixed arm 3.

[0055] In this embodiment, an encoder 20 is provided on the drive unit. By initializing the main control module and the built-in control program, the encoder 20 controls the drive unit to rotate by triggering the switch, which drives the extended moving mechanism 2 to swing around the robot body 1 in the circumference, and switches the auxiliary fixed arm 3 from the left position to the right position, or from the right position to the left position.

[0056] Furthermore, the position adjustment switch 26 is preferably a capacitive switch, which adopts a non-contact form. By having the surgeon wave their hand from the left side to the right and from the right side to the left, the extended moving mechanism 2 can drive the auxiliary fixing arm 3 to achieve the left and right position switching.

[0057] More specifically, such as Figure 4 As shown, in one specific embodiment, a specific circuit structure of one type of main control module is provided: the brushless DC servo motor 23 control system consists of a controller module 51, a three-phase power bridge drive module 52, a power module, a Hall position sensor detection module 53, and an output status acquisition module 54. The controller module 51 receives the motor 23 motion trigger signal via an RS485 bus. The encoder 20 control section adopts PWM control technology, that is, the rotor phase output by the absolute encoder 20 and the incremental encoder 20, combined with the motor 23 current, generates a PWM drive signal. This signal is then amplified by the driver and power module, driving the motor 23 to rotate at a fixed speed according to the trigger signal direction, achieving precise servo control. During operation, the power monitoring module 55 monitors the power supply overvoltage, undervoltage, and overcurrent states in real time, completing the circuit protection function. The output status acquisition module 54 monitors the output status of the drive circuit in real time, feeding back to the controller for logical operations or for diagnosing motor 23 faults.

[0058] The main function of the controller module is to combine the position status feedback signal of motor 23, the phase voltage of motor 23, and the phase current of motor 23 to complete the motor 23 control algorithm. The main function of the drive circuit module is to amplify the signal sent by the controller and control the power MOSFET to turn on and off, providing three-phase current to motor 23. The main function of the power supply monitoring and protection module is to suppress high voltage surges and output voltage, protecting the load from damage caused by high voltage transients. The position signal is acquired by combining Hall sensors, incremental encoders 20 and absolute encoders 20 to realize the data feedback of the position, speed and acceleration status of motor 23 within its speed range.

[0059] It should also be stated that the circuit section is only one possible embodiment, and is provided as an example for reference only, as a way to control the hardware structure of the articulated robot described in this application. Other existing technologies can also be used to control the extended movement mechanism, so they will not be described in detail in this application.

[0060] In one specific embodiment, it also includes a tracking display device 10; the tracking display device 10 has a working column in the middle, and a spatial positioning device 7 and a display terminal 8 are arranged on the working column; the spatial positioning device 7 is installed on a multi-axis balance bracket at the top of the working column and is electrically connected to the main control module; the display terminal 8, the spatial positioning device 7, and the main control module are suitable for electrical connection with the system host.

[0061] In summary, the specific workflow of the dual-arm knee replacement robot with an extended axis of this application is as follows: The auxiliary fixation arm 3 automatically switches its working position according to a preset position and posture by triggering the induction switch 26. Typically, after the dual-arm robot is in place, the auxiliary fixation arm 3 needs to be placed at the distal end of the patient's limb. Therefore, when participating in knee replacement surgery, it is first necessary to confirm whether the patient is undergoing surgery on the left or right limb. After correctly positioning the device, the auxiliary fixation arm 3 is moved to the preset working position, i.e., the distal end of the patient's affected limb, by triggering the induction switch 26. Then, the posture and position of the auxiliary fixation arm 3 are dragged or automatically adjusted to bind the affected limb fixation part 6 to the distal end of the patient's limb, completing the limb fixation. After the patient's surgical limb is fixed, the main surgical arm 4 drives the bone grinding component 5 to participate in the bone grinding process according to the software plan.

[0062] More specifically, the tracking display device 10 consists of a spatial locator 7, a display terminal 8, casters 11, and a locking device 12. The spatial locator 7 assists in the coordinate system registration of the bone-grinding component 5 at the end of the main surgical arm 4, and automatically identifies and tracks slight movements of the patient's limbs during the bone-grinding process to ensure the accuracy of the bone-grinding and the surgical outcome. Throughout the entire surgical procedure, the display terminal 8 displays relevant interactive information and real-time feedback results from the surgeon using the robot.

[0063] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A dual-arm knee replacement robot with an extended axis, characterized by, The utility model discloses a robot body, drive part, extension moving mechanism, auxiliary fixed arm, limb fixed part, surgical main arm and bone grinding assembly are provided. The drive part is installed on the robot body. The front end of the surgical main arm is installed on the top of the robot body, and does not interfere with the auxiliary fixed arm. The bone grinding assembly is installed on the end of the surgical main arm. The extension moving mechanism is in transmission connection with the drive part, and is arranged on one side of the robot body. The extension moving mechanism includes a transmission arm and a moving body. The moving body of the extension moving mechanism is an arc-shaped sheet structure consistent with the arc-shaped side wall of the top module of the robot body. A guide groove is formed on the arc-shaped side wall of the top module.

2. The dual-arm knee arthroplasty robot with extended axes of claim 1, wherein, The transmission arm is movably arranged in the guide groove to limit the moving track of the auxiliary fixed arm. The front end of the auxiliary fixed arm is arranged on the extension moving mechanism, and the limb fixed part is installed on the end of the auxiliary fixed arm. The drive part drives the extension moving mechanism to move, drives the auxiliary fixed arm, and reciprocally moves or is fixed along a preset track in the circumferential direction of the robot body.

3. The dual-arm knee arthroplasty robot with extended axes of claim 2, wherein, The drive part is arranged inside the robot body. The extension moving mechanism includes a transmission arm and a moving body. One end of the transmission arm is connected with the output end of the drive part, and the other end extends outward and is connected with the auxiliary fixed arm.

4. The dual-arm knee arthroplasty robot with extended axes of claim 1, wherein, The robot body includes a base module and a top module. The base module is in a columnar structure, has a bottom caster and a locking assembly matched with the caster. The drive part is installed above the base module. The top module is in a columnar structure, is fixedly installed on the base module, and the surgical main arm is installed on the upper portion of the top module. The drive part includes a motor and a speed reducer. The drive part and the extension moving mechanism are in transmission connection through a transmission assembly.

5. The dual-arm knee arthroplasty robot with extended axes of claim 3, wherein, The transmission assembly includes a first gear, a main shaft and a second gear. The motor is in transmission connection with the speed reducer.

6. The dual-arm knee arthroplasty robot with extended axes of claim 5, wherein, The first gear is longitudinally arranged on the output end of the speed reducer.

7. The dual-arm knee arthroplasty robot with extended axes of the claim 1, wherein, The main shaft is longitudinally arranged beside the motor.

8. The dual-arm knee arthroplasty robot with extended axes of claim 1, wherein, The second gear is fixedly sleeved on the main shaft and is in mesh with the first gear. The transmission arm is fixed to the main shaft. The outer side of the moving body is provided with an arm connecting seat. The arm connecting seat is detachably connected with the auxiliary fixed arm. One side of the top module, on which the extension moving mechanism is installed, has an arc-shaped side wall. The moving body is in a sheet structure with an arc shape, which is the same as the arc-shaped side wall of the top module. The arc-shaped side wall of the top module is transversely provided with a guide groove matched with the preset track. The transmission arm is movably arranged in the guide groove to limit the moving track of the auxiliary fixed arm. The surgical main arm is arranged adjacent to one side of the robot body, on which the auxiliary fixed arm is installed, and is located above the middle line of the preset track. The robot body further includes a main control module. The drive part is provided with an encoder. The main control module is electrically connected with the drive part and the encoder. The top of the robot body is provided with a position adjusting switch, which is electrically connected with the master control module, and is used for adjusting the left and right positions of the auxiliary fixing arm.

9. The dual-arm knee arthroplasty robot with extended axes of claim 8, wherein, The tracking display device is further included; The middle part of the tracking display device is provided with a working column, and the working column is provided with a space positioning instrument and a display terminal; The space positioning instrument is installed on a multi-axis balance support at the top of the working column, and is electrically connected with the master control module; The display terminal, the space positioning instrument and the master control module are adapted to be electrically connected with a system host.

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