Orthopedic surgery robot femur positioning device and surgical robot system

Abstract

The application relates to the technical field of medical devices, and provides a femur positioning device of an orthopedic surgery robot and a surgical robot system. The femur positioning device of the orthopedic surgery robot comprises a self-tapping bone nail, the self-tapping bone nail comprises a tapping screw, a fixing nut and a positioning block, the tapping screw comprises a screw end and a shaft end which are oppositely arranged, a self-tapping thread is arranged on the outer side surface of the screw end and is used for screwing into bone, the fixing nut is fixedly sleeved on the shaft end, the positioning block is provided with a rotating hole, the positioning block is rotatably installed between the fixing nut and the screw end through the rotating hole, the positioning block is movably arranged along the axial direction of the tapping screw, a positioning structure is formed on the positioning block and is used for being positioned on bone, and an installation gap is formed between the positioning block and the fixing nut. The screw end and the positioning structure are used for fixing the self-tapping bone nail on the bone, and the fixing effect is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a femur positioning device for orthopedic surgery robot and a surgical robot system. BACKGROUND

[0002] During total hip arthroplasty surgery of an orthopedic surgery robot, a positioning frame needs to be fixed on the femur side, which is called a femur positioning frame. When using the positioning frame, a bone screw needs to be pre-placed on the greater trochanter of the femur. The relative position of the bone screw and the femur is fixed, then the femur positioning frame is inserted into the bone screw, and the direction of the femur positioning frame is adjusted to align with the optical positioning system of the navigation trolley of the orthopedic surgery robot. After the femur positioning frame is inserted into the bone screw, the relative position of the positioning frame and the bone screw needs to be kept from shaking to provide accurate positioning for the orthopedic surgery robot, and then the subsequent operation is completed.

[0003] However, in the existing orthopedic surgery positioning device, the stability of the bone screw in the bone is not good when it is screwed into the bone. In the case of needing to bear the positioning frame, the accommodation is subject to stress and shaking. At the same time, the installation and disassembly process between the positioning frame and the bone screw is relatively complex and inconvenient for quick installation and disassembly. In summary, the existing orthopedic surgery positioning device cannot achieve stable positioning. SUMMARY

[0004] The present application provides a femur positioning device for orthopedic surgery robot and a surgical robot system to solve the problem that the existing orthopedic surgery positioning device cannot achieve stable positioning, and to achieve stable positioning of the femur positioning device for orthopedic surgery robot.

[0005] The present application provides a femur positioning device for orthopedic surgery robot, comprising:

[0006] A self-tapping bone screw, the self-tapping bone screw comprises:

[0007] A tapping screw having a screw end and a shaft end, the outer side of the screw end is provided with a self-tapping thread for screwing into the bone;

[0008] A fixing nut is fixedly sleeved on the shaft end; and

[0009] A positioning block is provided with a rotating hole, the positioning block is rotatably installed between the fixing nut and the screw end through the rotating hole, and the positioning block can move along the axial direction of the tapping screw, the positioning block is formed with a positioning structure for positioning on the bone;

[0010] Wherein, an installation gap is formed between the positioning block and the fixing nut, and the positioning structure realizes the change of the angle of insertion into the bone through the installation gap.

[0011] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0012] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0013] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0014] The positioning rod assembly comprises a positioning main rod, the positioning main rod has a mounting end and a connecting end, the connecting end is detachably mounted to the shaft rod end, and the mounting end is used to mount the positioning frame.

[0015] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0016] The end face of the connecting end is provided with the assembly block corresponding to the assembly groove, and the assembly block is mounted into the assembly groove.

[0017] The positioning rod assembly further comprises a fixing structure arranged between the assembly groove and the assembly block, so that the assembly block is fixed in the assembly groove.

[0018] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0019] The fixing structure comprises a locking nut, one end of the locking nut is sleeved on the positioning main rod, and the other end is threadedly connected to the external thread of the shaft rod end, so that the assembly groove is pressed against the assembly block.

[0020] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0021] The outer side wall of the assembly block is provided with the positioning protrusion corresponding to the positioning groove, and the positioning protrusion is used to extend into the positioning groove.

[0022] The femur positioning device of the orthopedic surgery robot provided by the application has the advantages that the positioning block is provided with the fixing nail protruding from the end face of the screw end, the fixing nail is used to be nailed into the bone, and the positioning structure is formed.

[0023] A connecting piece is detachably mounted on the mounting end.

[0024] An adjusting strut is rotatably mounted on one end of the connecting piece and used to mount a positioning frame on the other end thereof.

[0025] The connecting piece comprises:

[0026] Two locking plates are oppositely arranged and form a locking gap with adjustable size therebetween, and locking screw holes are formed in opposite end faces of the two locking plates.

[0027] A connecting plate is arranged between the two locking plates and connects end portions on one side of the two locking plates.

[0028] A locking bolt is screwed into the two locking screw holes, and the locking gap is adjusted by rotating the locking bolt.

[0029] The adjusting strut is mounted on one of the locking plates.

[0030] The application further provides a surgical robot system, which comprises:

[0031] The surgical robot system comprises the surgical robot femur positioning device according to any one of the above.

[0032] A positioning frame is mounted on the surgical robot femur positioning device.

[0033] A navigation trolley is used to track and position the positioning frame.

[0034] A master trolley is electrically connected with the navigation trolley and used to match a preoperative surgical plan to an actual femur image.

[0035] A mechanical arm trolley is electrically connected with the navigation trolley and the master trolley and used to perform a surgical operation.

[0036] The above technical solution of the application has at least the following advantages:

[0037] In the orthopedic surgical robot femoral positioning device and surgical robot system provided by this invention, the self-tapping bone screw is fixed to the bone. Rotating the fixing nut causes the tapping screw to rotate. The outer surface of the screw end is provided with self-tapping threads. During rotation, the self-tapping screw is driven into the bone through the self-tapping threads, providing a pulling force that penetrates deeper into the bone. Simultaneously, as the tapping screw is driven into the bone, the positioning block is pushed against the fixing nut, restricting the position of the positioning block and causing it to gradually conform to the bone. The positioning block is provided with a positioning structure, which also fixes the positioning block to the bone. Through the screw end and the positioning structure, the self-tapping bone screw is fixed to the bone, resulting in better fixation, improved stability of the self-tapping bone screw, and prevention of loosening, achieving stable positioning. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 A three-dimensional structural diagram of the self-tapping bone screw of the femoral positioning device for orthopedic surgical robots provided by the present invention;

[0040] Figure 2 for Figure 1 A frontal view of the structure of a self-tapping screw;

[0041] Figure 3 This is a front view of the positioning rod assembly provided by the present invention.

[0042] Figure 4 for Figure 2 A cross-sectional view of a self-tapping screw;

[0043] Figure 5 A three-dimensional structural schematic diagram of the adjustment component provided by the present invention;

[0044] Figure 6 A schematic diagram of a structural embodiment of the surgical robot system provided by the present invention;

[0045] Figure 7 For the present invention Figure 6 An enlarged view of the dashed box area.

[0046] Explanation of reference numerals in the attached figures:

[0047] 100, femur positioning device of orthopedic surgery robot; 1, self-tapping bone screw; 11, tapping screw; 111, assembly groove; 12, fixing nut; 13, positioning block; 131, fixing nail; 2, positioning rod assembly; 21, positioning main rod; 211, assembly block; 221, locking nut; 231, positioning groove; 232, positioning protrusion; 3, adjustment assembly; 31, connecting piece; 311, locking plate; 312, locking bolt; 32, adjustment support rod; 200, positioning frame; 300, navigation trolley; 400, main control trolley; 500, mechanical arm trolley. DETAILED DESCRIPTION

[0048] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present application.

[0049] It should be noted that the femur positioning device 100 of the orthopedic surgery robot provided by the present application is used in total hip arthroplasty surgery. The orthopedic navigation robot has a higher accuracy requirement for the position of the femur in the enhanced mode in total hip arthroplasty surgery. In this mode, the surgical probe is used to register the femoral head, femoral neck and the surface of the nearby bone. The positioning frame is used to perform real-time feedback on any movement of the position of the femur through the optical positioning system of the navigation trolley during the bone surface registration of the probe. The preoperative planned image is accurately matched with the actual femur, and a virtual osteotomy line is generated according to the preoperative planning to perform accurate osteotomy operation.

[0050] Please refer to Figure 1 The femur positioning device 100 of the orthopedic surgery robot provided by the present application comprises a self-tapping bone screw 1, the self-tapping bone screw 1 comprises a tapping screw 11, a fixing nut 12 and a positioning block 13. The tapping screw 11 has a screw end and a shaft end. A self-tapping thread is arranged on the outer side of the screw end, so as to be screwed into the bone. The fixing nut 12 is fixedly sleeved on the shaft end. The positioning block 13 is rotatably installed between the fixing nut 12 and the screw end through a rotating hole. The positioning block 13 can move along the axial direction of the tapping screw 11. A positioning structure is formed on the positioning block 13, and the positioning structure is used to be positioned on the bone. An installation gap is formed between the positioning block 13 and the fixing nut 12. The positioning structure realizes the change of the angle of being placed in the bone through the installation gap.

[0051] In the femur positioning device 100 of the orthopedic surgery robot provided in the application, the self-tapping bone nail 1 is fixed on the bone, the fixed nut 12 is rotated to rotate the tapping screw 11, the outer side surface of the screw end is provided with a self-tapping thread, in the rotating process, the self-tapping thread is screwed into the bone, and a pulling force deep into the bone is provided, at the same time, in the process of screwing the tapping screw 11 into the bone, the positioning block 13 is pushed to abut against the fixed nut 12, the position of the positioning block 13 is limited, so that the positioning block 13 is also gradually fitted on the bone, the positioning structure is arranged on the positioning block 13, the positioning block 13 is also fixed on the bone through the positioning structure, the self-tapping bone nail 1 is fixed on the bone through the screw end and the positioning structure, the fixing effect is better, the stability of the self-tapping bone nail 1 is improved, the self-tapping bone nail 1 is prevented from loosening, and stable positioning is realized.

[0052] It should be noted that the outer side surface of the screw end is provided with a self-tapping thread, the maximum outer diameter of the self-tapping thread is 6.5 mm, and the root outer diameter is 3 mm. In order to facilitate the self-tapping into the bone and provide sufficient pulling force.

[0053] Specifically, please refer to Figure 2 The end face of the positioning block 13 towards the screw end is provided with a fixing nail 131, and the fixing nail 131 is used to be screwed into the bone to form the positioning structure. In this embodiment, as the tapping screw 11 is gradually screwed into the bone, the fixing nail 131 on the positioning block 13 also gradually contacts the bone, when the positioning block 13 moves to abut against the fixed nut 12, at this time, the tapping screw 11 is continuously screwed in, the positioning block 13 is pushed by the fixed nut 12 to screw the fixing nail 131 into the bone, so that the positioning block 13 is also fixed on the bone, and the fixing of the self-tapping bone nail 1 is more firm.

[0054] Further, the fixing nail 131 is provided in plurality, and the plurality of fixing nails 131 are arranged at intervals along the circumference of the positioning block 13. The stability of the fixing nail 131 is ensured.

[0055] Specifically, in this embodiment, the positioning block is annularly arranged, the fixing nail 131 is provided with four, and the four fixing nails are uniformly and interval arranged along the circumference of the positioning block 13.

[0056] It should be noted that the fixed nut 12 is fixedly sleeved on the shaft rod end in various ways, in this embodiment, the fixed nut 12 is welded to the shaft rod end, specifically, a welding hole is arranged on the side wall surface of the fixed nut 12, and the fixed nut 12 is welded to the shaft rod end from the welding hole.

[0057] Similarly, a welding groove is arranged on the side wall surface of the shaft rod end, and the fixing nut 12 is welded to the shaft rod end through the welding groove.

[0058] The two welding structures can exist simultaneously to ensure the stability of welding.

[0059] On the other hand, a limiting structure is arranged on the opposite end surface of the positioning block 13 and the fixing nut 12, the limiting structure includes engagement teeth and matching teeth arranged in cooperation with each other, and the positioning block 13 and the fixing nut 12 abut each other to make the engagement teeth and the matching teeth engage with each other. During the process that the fixing nut 12 pushes the positioning block 13 to move, the gap between the fixing nut 12 and the positioning block 13 gradually becomes smaller, and the friction between them gradually becomes larger, so that the engagement of the two groups of engagement teeth gradually begins. At the same time, after the positioning block 13 is fixed on the bone, the positioning block 13 cannot rotate again. At this time, if the screw end is continuously screwed in, the fixing nut 12 is tightly abutted to the positioning block 13, the two groups of engagement teeth are engaged, so that the fixing nut 12 also cannot rotate, and when rotating, it can prevent slipping and improve the success rate of implanting into the bone, so that the self-tapping bone screw 1 cannot continue to rotate and screw in, indicating that the self-tapping bone screw 1 has completed installation and positioning, and at the same time, the fine adjustment of the implantation depth can also be realized according to the needs.

[0060] It should be noted that the positioning block 13 is provided with the rotating hole, wherein the diameter of the rotating hole is larger than the diameter of the shaft rod end, and the rotating hole is in clearance fit, so that the positioning block 13 can shake, and the rotating hole and the shaft rod end are eccentric and different in axis, so as to facilitate the gripping of the bone and ensure that the positioning block 13 can be attached to the bone.

[0061] On the other hand, referring to Figure 3 , the orthopedic surgery robot femur positioning device 100 further comprises a positioning rod assembly 2, the positioning rod assembly 2 comprises a positioning main rod 21, the positioning main rod 21 has a mounting end and a connecting end, the connecting end is detachably mounted to the shaft rod end, and the mounting end is used to mount a positioning frame. In this embodiment, the positioning frame is mounted through the positioning main rod 21, the distance between the positioning frame and the self-tapping bone screw 1 is increased, and the installation of the positioning frame and the subsequent positioning of the positioning frame are facilitated.

[0062] Further, referring to Figure 4, the end face of the shaft rod end is concave with an assembly groove 111; the end face of the connecting end is convex with an assembly block 211 corresponding to the assembly groove, the assembly block 211 is installed into the assembly groove 111; the positioning rod assembly 2 further comprises a fixing structure between the assembly groove 111 and the assembly block 211, so as to fix the assembly block 211 in the assembly groove 111. In this embodiment, the positioning main rod 21 is directly inserted into the assembly groove 111 through the assembly block 211, and is installed on the self-tapping bone screw 1, so as to facilitate quick installation and complete installation through splicing.

[0063] It should be noted that the assembly groove 111 is sequentially formed with two groove sections with gradually increasing diameters in a direction away from the groove bottom face, so as to form a stepped face towards the direction of the assembly groove 111 opening; the assembly block 211 is arranged corresponding to the shape of the assembly groove 111, so as to facilitate close connection of the assembly block 211 and the assembly groove 111.

[0064] It should be noted that the fixing structure has various embodiments, for example, a buckle is arranged between the assembly groove 111 and the assembly block 211, the positioning main rod 21 is installed on the self-tapping bone screw 1 through the buckle, however, this way may cause the positioning main rod 21 to generate a force towards the self-tapping bone screw 1, which may damage the stability of the self-tapping bone screw 1.

[0065] Specifically, in this embodiment, an external thread is formed on the outer side face of the shaft rod end away from the positioning block one end; the fixing structure comprises a locking nut 221, one end of the locking nut 221 is sleeved on the positioning main rod 21, and the other end is threadedly connected to the external thread of the shaft rod end, so that the assembly groove 111 compresses the assembly block 211. In this embodiment, after the positioning main rod 21 is inserted into the assembly groove, the shaft rod end is locked by rotating the locking nut 221, so that the assembly groove 111 is compressed, the diameter is reduced, and the assembly block 211 is compressed. Through the locking effect of the locking nut, the positioning main rod 21 can be prevented from shaking, the accuracy of the positioning frame position is ensured, the success rate of the operation is improved, the installation mode is simple, and no additional force is generated on the self-tapping bone screw 1 during the installation and connection process, so as to avoid damaging the positioning state of the self-tapping bone screw 1. Once the positioning main rod 21 shakes, the positioning frame position changes, the position of the affected part (femur) changes, and the operation may fail.

[0066] It should be noted that, in order to avoid the locking nut 221 from falling off from the installation end of the positioning main rod 21, a limiting protrusion is convexly arranged on the outer side face of the installation end.

[0067] In addition, a positioning groove 231 is concavely arranged on the inner side wall of the assembly groove 111, and the positioning groove 231 penetrates to the outer side of the end face of the shaft end; a positioning protrusion 232 is protrusively arranged on the outer side wall of the assembly block 211, and the positioning protrusion 232 is used to extend into the positioning groove 231. In the embodiment, in order to avoid the rotation of the assembly block 211 after being installed into the assembly groove 111, the positioning groove 231 is concavely arranged on the inner side wall of the assembly groove 111, and when the assembly block 211 is installed into the assembly groove 111, the positioning protrusion 232 extends into the positioning groove 231, so that the assembly block 211 cannot rotate in the assembly groove 111, and the accuracy of the relative position between the positioning main rod 21 and the self-tapping bone screw 1 is ensured.

[0068] In the embodiment, the positioning groove 231 is arranged on the inner side wall of the assembly groove, so that the positioning protrusion 232 extends and engages.

[0069] Further, the positioning groove 231 is provided with a plurality of positioning protrusions 232. In the embodiment, the positioning groove 231 is provided with two positioning protrusions 232, and the two positioning protrusions 232 are oppositely arranged.

[0070] In addition, referring to Figure 5 and Figure 7 , the orthopedic surgery robot femur positioning device 100 further comprises an adjusting assembly 3, and the adjusting assembly 3 comprises a connecting piece 31 and an adjusting branch rod 32; the connecting piece 31 is detachably installed on the installation end; the adjusting branch rod 32 is rotationally installed on the connecting piece 31 around an axis arranged along the radial direction of the positioning main rod 21, and the other end of the adjusting branch rod 32 is used to install a positioning frame. In the embodiment, the connecting piece 31 is installed on the installation end, and the adjusting branch rod is rotationally installed on the connecting piece 31, so that after the positioning frame is installed on the positioning main rod 21, the angle can be adjusted, and the subsequent positioning is facilitated.

[0071] Specifically, the connecting piece 31 comprises two locking plates 311, a connecting plate and locking bolts 312; the two locking plates 311 are oppositely arranged, a size-adjustable locking gap is formed between the two locking plates 311, and locking threaded holes are formed in the opposite end faces of the two locking plates 311; the connecting plate is arranged between the two locking plates 311, and the connecting plate 311 connects the end portions on one side of the two locking plates; the locking bolts 312 are threadedly arranged in the two locking threaded holes, and the locking bolts 312 are rotated to adjust the size of the locking gap; wherein the adjusting support rod 32 is installed on one of the locking plates 311. In this embodiment, the locking bolts 312 are rotated to make the locking gap smaller, thereby clamping the mounting end in the locking space, and the structure is simple and convenient to adjust.

[0072] Further, recessed locking grooves are formed in the opposite end faces of the two locking plates 311, and the two ends of the locking grooves are arranged in the side walls penetrating the locking plates 311, so as to clamp the mounting end.

[0073] Based on the above-mentioned orthopedic surgery robot femur positioning device 100, the application further provides a surgical robot system, which comprises all the technical features of the above-mentioned orthopedic surgery robot femur positioning device 100, and thus has all the technical effects brought by the above-mentioned technical features, which will not be repeated here.

[0074] Referring to Figure 6 , the surgical robot system 1000 further comprises a positioning frame 200, a navigation trolley 300, a main control trolley 400 and a mechanical arm trolley 500; the positioning frame 200 is installed on the orthopedic surgery robot femur positioning device 100; the navigation trolley 300 is used to track and position the positioning frame; the main control trolley 400 is electrically connected with the navigation trolley, and is used to match the preoperative surgical plan to the actual femur image; the mechanical arm trolley 500 is electrically connected with the navigation trolley and the main control trolley, and is used to perform surgical operation.

[0075] It should be noted that the mechanical arm of the mechanical arm trolley 500 is provided with a power tool (not shown in the figure). The power tool may, for example, be a swing saw for performing osteotomy operation on the surgical site. The power tool may, for example, also be a grinding and filing rod for performing bone grinding operation on the surgical site. Of course, the power tool is not limited to this, and will not be illustrated one by one here.

[0076] In the robot system 1000 provided by the present application, the positioning frame 200 is tracked by the optical positioning system of the navigation trolley 300 during the registration of the femoral surface, so as to provide real-time feedback for any movement of the femoral surface, so that the master trolley 400 can accurately match the preoperative planned image with the actual femur through the registration of the femoral surface by the probe, and generate a virtual osteotomy line according to the preoperative planning.

[0077] In addition, before osteotomy according to the osteotomy line, the positioning rod assembly 2, the adjusting assembly 3 and the positioning frame are removed to prevent them from blocking the osteotomy by the swing saw. In the operation, after the femoral stem trial is installed in place, the femoral neck trial is measured for the femoral anteversion angle by the probe, at the same time, the optical positioning system of the orthopedic surgery robot navigation trolley tracks the position of the femoral positioning frame and feeds back the position parameters to the master trolley in real time for the reference of the operator, and finally the mechanical arm trolley 500 is used for the surgical operation. Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An orthopedic surgical robotic femur positioning device, comprising: The application relates to a self-tapping bone screw, a tapping screw and a femur positioning device for a robot. The self-tapping bone screw comprises: a tapping screw having a screw end and a shaft end, an outer surface of the screw end being provided with a self-tapping thread for tapping into bone; a fixing nut fixedly sleeving the shaft end and welded to the shaft end; and a positioning block provided with a rotating hole, the positioning block being rotatably installed between the fixing nut and the screw end through the rotating hole and being movable along the axial direction of the tapping screw, the positioning block being provided with a positioning structure for positioning on the bone. The positioning block and the fixing nut are provided with an installation gap, and the positioning structure is arranged to change the angle of insertion into the bone through the installation gap.

2. The orthopedic surgical robotic femur positioning device of claim 1, wherein, The end surface of the positioning block towards the screw end is provided with a fixing nail for tapping into the bone to form the positioning structure.

3. The orthopedic surgical robotic femur positioning device of claim 1, wherein, The opposite end surfaces of the positioning block and the fixing nut are provided with limiting structures, the limiting structures comprising meshing teeth and cooperating teeth arranged in cooperation, and the positioning block and the fixing nut abut to make the meshing teeth and the cooperating teeth mesh with each other.

4. The orthopedic surgical robotic femur positioning device of claim 1, wherein, The femur positioning device for the robot further comprises: a positioning rod assembly comprising a positioning main rod having an installation end and a connecting end, the connecting end being detachably installed to the shaft end, and the installation end being used for installing a positioning frame.

5. The orthopedic surgical robotic femur positioning device of claim 4, wherein, An assembly groove is recessed on the end surface of the shaft end; An assembly block is protruded on the end surface of the connecting end corresponding to the assembly groove, and the assembly block is installed into the assembly groove; The positioning rod assembly further comprises a fixing structure arranged between the assembly groove and the assembly block, and the fixing structure is used for fixing the assembly block in the assembly groove.

6. The orthopedic surgical robotic femur positioning device of claim 5, wherein, An external thread is formed on the outer surface of the end of the shaft end away from the positioning block; The fixing structure comprises a locking nut, one end of the locking nut being sleeved on the positioning main rod, and the other end of the locking nut being threadedly connected to the external thread of the shaft end, so that the assembly groove is pressed against the assembly block.

7. The orthopedic surgical robotic femur positioning device of claim 5, wherein, A positioning groove is recessed on the inner side wall surface of the assembly groove, and the positioning groove penetrates to the end surface of the shaft end; A positioning protrusion is protruded on the outer side wall of the assembly block corresponding to the positioning groove, and the positioning protrusion is used for extending into the positioning groove.

8. The orthopedic surgical robotic femur positioning device of claim 4, wherein, The femur positioning device for the robot further comprises an adjusting assembly, and the adjusting assembly comprises: a connecting piece detachably installed on the installation end; and an adjusting support rod arranged along an axis in the radial direction of the positioning main rod, one end of the adjusting support rod being rotatably installed on the connecting piece, and the other end of the adjusting support rod being used for installing a positioning frame.

9. The orthopedic surgical robotic femur positioning device of claim 8, wherein, The connecting piece comprises: two locking plates oppositely arranged, a size-adjustable locking gap being formed between the two locking plates, and locking thread holes being formed in the opposite end surfaces of the two locking plates; a connecting plate arranged between the two locking plates, the connecting plate connecting the end portions on one side of the two locking plates; and a locking bolt, a threaded section of the locking bolt being arranged in the two locking thread holes, and the locking bolt being rotated to adjust the size of the locking gap. The adjusting support rod is installed on one of the locking plates.

10. A surgical robotic system, characterized by, Comprise: The femur positioning device for orthopedic surgery robot is the femur positioning device for orthopedic surgery robot according to any one of claims 1 to 9; The positioning frame is installed on the femur positioning device for orthopedic surgery robot; The navigation trolley is used for tracking and positioning the positioning frame; The main control trolley is electrically connected with the navigation trolley, and is used for matching the preoperative surgery plan to the actual femur image; And, The mechanical arm trolley is electrically connected with the navigation trolley and the main control trolley, and is used for surgery operation.

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