Angle-adjustable drill for orthopedic robot

Abstract

The application provides an angle-adjustable burr for orthopedic robots, which comprises a burr head mechanism, a fixing mechanism and a bending angle adjusting driving mechanism. The burr head mechanism comprises a burr head driving part, a transmission shaft, a bendable transmission part and a burr head which are sequentially connected. The fixing mechanism comprises a transmission shaft fixing part and a burr head fixing part. The transmission shaft is rotatably installed on the transmission shaft fixing part, and the burr head is rotatably installed on the burr head fixing part. The transmission shaft fixing part and the burr head fixing part are rotationally connected, and when rotating, the bendable transmission part is bent. The bendable transmission part can transmit torque in the bent state. The bending angle adjusting driving mechanism comprises a bending wire, a limiting wire and a bending angle adjusting driving part. The bending wire and the limiting wire are respectively connected to the burr head fixing part and the bending angle adjusting driving part, and are arranged on both sides of the rotation axis of the transmission shaft fixing part and the burr head fixing part. The bending angle adjusting driving part is used for driving the bending wire and the limiting wire to adjust the rotation angle of the burr head fixing part relative to the transmission shaft fixing part.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to an angle-adjustable drill for orthopedic robots. Background Technology

[0002] In orthopedic, trauma, and spinal surgery, drills are used to remove soft and bony tissues. With the aid of an endoscope, the angle of the drill can be adjusted during surgery, facilitating the procedure.

[0003] Traditional drills are straight drills, which are adjusted by the surgeon's arm to reach the surgical site. Because the surgical area is usually small, the surgeon's arm is often in an awkward position during most surgeries. Therefore, using a straight drill is difficult and requires a high level of skill. When orthopedic robots are used, the drill angle is adjusted by the robot's robotic arm. However, robotic arms are less flexible than human arms, making it even more difficult to use a straight drill for surgical resections. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an angle-adjustable drill for orthopedic robots, wherein the angle of the drill bit can be adjusted, thereby facilitating the drill bit's access to the surgical site.

[0005] The technical solution of this invention is as follows:

[0006] An angle-adjustable drill for orthopedic robots, comprising:

[0007] A drill bit grinding mechanism includes a drill bit driving unit, a drive shaft, a bendable transmission component, and a drill bit connected in sequence. The drill bit driving unit is used to drive the drill bit to rotate through the drive shaft and the bendable transmission component.

[0008] A fixing mechanism includes a drive shaft fixing component and a drill bit fixing component. The drive shaft is rotatably mounted on the drive shaft fixing component, and the drill bit is rotatably mounted on the drill bit fixing component. The drive shaft fixing component and the drill bit fixing component are rotatably connected, and when rotated, they cause the bendable drive component to bend. The bendable drive component can transmit torque in the bent state.

[0009] A bending drive mechanism includes a bending wire, a limiting wire, and a bending drive unit. The bending wire and the limiting wire are respectively connected to the drill bit fixing member and the bending drive unit, and the bending wire and the limiting wire are located on both sides of the rotation axis of the transmission shaft fixing member and the drill bit fixing member. The bending drive unit is used to drive the bending wire and the limiting wire to adjust the rotation angle of the drill bit fixing member relative to the transmission shaft fixing member.

[0010] In one embodiment of the orthopedic robot angle-adjustable drill, the bendable transmission component is a flexible shaft.

[0011] In one embodiment of the orthopedic robot angle-adjustable drill, the drive shaft fixing member is a drive shaft sleeve, which is sleeved on the outside of the drive shaft and rotatably connected to it;

[0012] And / or, the drill bit fixing component is a drill bit sleeve, which is fitted over the drill bit and rotatably connected to it.

[0013] In one embodiment of the orthopedic robot angle-adjustable drill, the bending drive mechanism further includes a base, the drive shaft fixing member is fixedly connected to the base, and the bending drive unit is mounted on the base.

[0014] In one embodiment of the orthopedic robot angle-adjustable drill, the bending drive unit includes a slider and a locking structure. The ends of the bending wire and the limiting wire that are not connected to the drill bit fixing member are both connected to the slider. The bending wire, the slider, and the limiting wire constitute an adjusting wire. A tension pulley is provided on the base, and the adjusting wire passes around the tension pulley so that both ends are connected to the drill bit fixing member.

[0015] The slider is slidably connected to the base, and the locking structure is used to lock or release the relative position of the slider and the base.

[0016] In one embodiment of the orthopedic robot angle-adjustable drill, the locking structure includes:

[0017] A locking tongue is slidably connected to the slider, and an elastic element is provided between the locking tongue and the slider. The elastic element is used to drive the locking tongue to slide until it is limited by the limiting element on the slider.

[0018] A plurality of elastic locking elements are arranged along the sliding direction of the slider relative to the base; the latch is provided with a locking hole, and the elastic locking elements are installed on the base, with one end abutting against the side wall of the latch or inserted into the locking hole to achieve a locking connection.

[0019] In one embodiment of the orthopedic robot angle-adjustable drill, a transition surface is provided between the locking hole and the side wall of the locking tongue. When the locking tongue slides against the elastic force of the elastic member, the elastic locking member locked in the locking hole slides to the side wall of the locking tongue through the transition surface.

[0020] In an embodiment of an orthopedic robot angle-adjustable drill, the limiting member is slidably connected to the slider, and the sliding direction is the same as the sliding direction between the locking tongue and the slider. When the limiting member slides, it cooperates with the elastic member to drive the locking tongue to slide; the limiting member slides within the restricted range.

[0021] In one embodiment of the orthopedic robot angle-adjustable drill, the elastic locking member includes a pin and a spring. The pin is slidably connected to the base, and the spring is provided between the pin and the base. The spring is used to drive the pin to move in the direction of the locking tongue, so that one end of the pin abuts against the side wall of the locking tongue or is inserted into the locking hole to achieve a locking connection.

[0022] In one embodiment of the orthopedic robot angle-adjustable drill, the position of the tension pulley on the base is adjustable to tension the adjusting wire.

[0023] In one embodiment of the orthopedic robot angle-adjustable grinding drill, the grinding drill head mechanism, the fixing mechanism, the bending adjustment wire and the limiting wire constitute a consumable assembly. The drive shaft is detachably connected to the grinding drill head drive unit, and the bending adjustment wire and the limiting wire are both detachably connected to the bending adjustment drive unit.

[0024] In one embodiment of the orthopedic robot angle-adjustable grinding drill, the drive shaft, the bendable transmission component, and the grinding drill bit are hollow and interconnected to form a negative pressure channel. One end of the negative pressure channel has an opening on the side of the grinding drill bit that connects to the outside, and the other end is connected to a negative pressure generating mechanism. The negative pressure generating mechanism is used to generate negative pressure at the other end of the negative pressure channel after the grinding drill bit stops working, so as to suck away the grinding debris from the opening through the negative pressure channel.

[0025] In one embodiment of the orthopedic robot angle-adjustable grinding drill, the output shaft of the drill head drive unit is connected to the transmission shaft, and the negative pressure generating mechanism includes:

[0026] The housing has an output shaft that passes through it and is rotatably connected to it in a sealed manner. The output shaft has a cavity that communicates with the negative pressure channel. The output shaft also has a through hole for communicating with the interior of the housing and the cavity.

[0027] An air pump, the working end of which is connected to the inside of the housing, is used to extract gas from inside the housing.

[0028] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0029] The orthopedic robot adjustable drill provided by this invention features a bending screw and a limiting screw located on opposite sides of the rotation axis of the drive shaft fixing component and the drill bit fixing component. Pulling the bending screw rotates the drill bit in the direction of the bending screw, and the limiting screw located on the other side of the rotation axis fixes the drill bit at the desired angle. Furthermore, the bendable drive component, even in a bent state, can be driven by the drill bit drive unit to rotate the drill bit, ensuring normal operation. Therefore, the orthopedic robot adjustable drill provided by this invention allows the drill bit to rotate relative to the entire assembly. After being assembled into an orthopedic robot, it reduces the flexibility requirements of the robot's robotic arm, simplifying orthopedic surgical procedures. Attached Figure Description

[0030] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0031] Figure 1 A schematic diagram of an angle-adjustable drill for orthopedic robots;

[0032] Figure 2 A cross-sectional view of the vicinity of the bendable transmission component;

[0033] Figure 3 This is a cross-sectional view of the fixed mechanism.

[0034] Figure 4 This is a schematic diagram of the bending drive mechanism;

[0035] Figure 5 This is a schematic diagram of the bending drive mechanism;

[0036] Figure 6 This is a cross-sectional schematic diagram of the bending drive mechanism;

[0037] Figure 7 This is a cross-sectional schematic diagram of the connection between the bolt and the resilient locking element;

[0038] Figure 8 This is a cross-sectional view of the locking structure.

[0039] Figure 9 This is a schematic diagram showing the connection between the negative pressure system and the drill bit mechanism.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1: Drill bit; 2: Bendable transmission component; 3: Drive shaft; 4: Bending axis; 5: Drill bit outer sleeve; 6: Drive shaft outer sleeve; 7: Adjusting screw; 8: Limiting screw; 9: Base; 10: Wire clip; 11: Slider; 12: Clamping block; 13: Locking tongue body; 14: Locking tongue pin; 15: Elastic component; 16: Limiting component; 17: Limiting pin; 18: Elastic locking component; 19: Tensioning pulley; 20: Pulley pin; 21: Tensioning block; 22: Adjusting screw; 23: Negative pressure channel; 24: Opening; 25: Housing; 26: Output shaft; 27: Clamping block. Detailed Implementation

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0043] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0044] See Figures 1 to 9 This embodiment provides an angle-adjustable grinding drill for orthopedic robots, including a grinding drill bit mechanism, a fixing mechanism, and a bending drive mechanism. The grinding drill bit mechanism includes a grinding drill bit drive unit, a drive shaft 3, a bendable transmission component 2, and a grinding drill bit 1 connected in sequence. The grinding drill bit drive unit drives the grinding drill bit 1 to rotate via the drive shaft 3 and the bendable transmission component 2. The fixing mechanism includes a drive shaft fixing component and a grinding drill bit fixing component. The drive shaft 3 is rotatably mounted on the drive shaft fixing component, and the grinding drill bit 1 is rotatably mounted on the grinding drill bit fixing component. The drive shaft fixing component and the grinding drill bit fixing component are rotatably connected, and when rotated, they cause the bendable transmission component 2 to bend. The bendable transmission component 2 can transmit torque in the bent state. The bending drive mechanism includes a bending screw 7, a limiting screw 8, and a bending drive unit. The bending screw 7 and the limiting screw 8 are respectively connected to the grinding drill bit fixing component and the bending drive unit, and the bending screw 7 and the limiting screw 8 are located on both sides of the rotation axis of the drive shaft fixing component and the grinding drill bit fixing component. The bending drive unit is used to drive the bending screw 7 and the limit screw 8 to adjust the rotation angle of the grinding drill bit fixing member relative to the drive shaft fixing member.

[0045] For ease of description, in the following text, the angle-adjustable drill for orthopedic robots will be referred to as the adjustable drill, and the rotation axis of the drive shaft fixing component and the drill bit fixing component will be referred to as the bending axis 4.

[0046] Main reference Figures 1 to 3 The drive shaft fixing component can be a drive shaft sleeve 6, which is fitted over the drive shaft 3 and rotatably connected to it. The drill bit fixing component can be a drill bit sleeve 5, which is fitted over the drill bit 1 and rotatably connected to it. The rotatable connection between the drive shaft 3 and the drive shaft sleeve 6, and between the drill bit 1 and the drill bit sleeve 5, can be achieved through bearings or other means. The bendable transmission component 2 is a flexible shaft that can still transmit torque after bending.

[0047] The adjustable grinding drill has two modes of operation: a straight grinding mode (when the flexible shaft is not bent) and multiple bending modes with different angles towards the adjusting screw 7. The grinding drill bit sleeve 5, tightened by the adjusting screw 7 and loosened by the limiting screw 8, can rotate around the bending axis 4 to achieve the desired bending angle. The bending of the grinding drill bit sleeve 5 relative to the drive shaft sleeve 6 causes the grinding drill bit 1 to bend along with it under the action of the flexible shaft. After bending to the desired angle, the limiting screw 8 is also tightened. At this point, the grinding drill bit sleeve 5 is tightened on both sides of the bending axis 4, thus fixing the bending angle. After bending to a certain angle, the grinding drill bit 1 can rotate together under the action of the drive shaft 3 and the flexible shaft to achieve the grinding purpose. The adjusting screw 7 and the limiting screw 8 pass through small holes inside the drive shaft sleeve 6, connecting to the grinding drill bit sleeve 5 after passing through the inside of the drive shaft sleeve 6.

[0048] Main reference Figure 4 and Figure 5 The bending drive mechanism also includes a base 9, with a transmission shaft sleeve 6 fixedly connected to the base 9, and the bending drive unit mounted on the base 9. The bending drive unit includes a slider 11 and a locking structure. The ends of the bending wire 7 and the limiting wire 8 that are not connected to the drill bit fixing component are both connected to the slider 11. The bending wire 7, slider 11, and limiting wire 8 constitute the adjusting wire. A tension pulley 19 is provided on the base 9, and the adjusting wire passes around the tension pulley 19 so that both ends are connected to the drill bit fixing component. Several fixed pulleys are also provided on the base 9, and the adjusting wire is wound around these fixed pulleys. The fixed pulleys are used to adjust the direction of the adjusting wire.

[0049] The connection between the bending wire 7 and the limiting wire 8 and the slider 11 can be either that they are connected to the slider 11 separately, or that they are connected together and then connected to the slider 11; there is no limitation here. In this embodiment, the bending wire 7 and the limiting wire 8 are connected as one unit by a wire clip 10, and then the wire clip 10 is clamped and fixed to the slider 11 by a clamping block 12. Driving the slider 11 to move will cause the bending wire and the limiting wire 8 to tighten and loosen, thereby causing the drill bit outer sleeve 5 to rotate relative to the drive shaft outer sleeve 6.

[0050] In this embodiment, the bending angle of the drill bit 1 is adjusted by tightening and loosening the bending screw 7. When the drill bit 1 is at its maximum bending angle, both the adjusting screw and the limiting screw 8 are taut. When the bending angle of the drill bit 1 decreases, the adjusting screw remains taut, while the limiting screw 8 becomes slightly slack. This is mainly because the lengths of tightening and loosening of the adjusting screw and the limiting screw 8 are different during bending, causing the entire adjusting screw to slack; the maximum slack length is approximately 0.2 mm. During bending, the bending angle is controlled by the bending screw 7, which is kept taut during use.

[0051] In practice, when the drill bit 1 is grinding, the drill bit 1 (on the side of the adjusting screw 7) will press against the cutting area. Therefore, the cutting area will restrict the drill bit sleeve 5 from rotating towards the adjusting screw 7. Furthermore, the adjusting screw 7 tightens the drill bit sleeve 5, further restricting its rotation towards the limiting screw 8. This achieves a fixed relative position of the adjustable drill bit 1 relative to the drive shaft 3 during operation. Therefore, even if the limiting screw 8 is not straightened, it does not affect its use. The limiting screw 8 is mainly used to ensure that the drill bit 1 does not wobble when the orthopedic robot adjusts the position of the adjustable drill using a robotic arm. The maximum slack length of the limiting screw 8 is only about 0.2 mm, so even a slight sway will not have any impact.

[0052] Main reference Figures 6 to 8 The slider 11 is slidably connected to the base 9. The locking structure is used to lock or release the relative position of the slider 11 and the base 9. The locking structure includes a latch and several elastic locking elements 18. The latch is slidably connected to the slider 11, and an elastic element 15 is provided between the latch and the slider 11. The elastic element 15 is used to drive the latch to slide until it is limited by the limiting element 16 on the slider 11. Specifically, the latch may include a latch body 13 and a latch pin 14. The latch body 13 is disposed inside the slider 11, and the latch pin 14 is disposed along the sliding direction of the latch. One end of the latch pin 14 is connected to the latch body 13, and the other end extends out of the slider 11 and abuts against the limiting element 16 under the action of the elastic element 15. The elastic element 15 may be a spring, sleeved on the latch pin 14.

[0053] The limiting member 16 is slidably connected to the slider 11, and the sliding direction is the same as the sliding direction between the latch and the slider 11. A limiting pin 17 is connected to the slider 11. The limiting member 16 has a through hole and is fitted onto the limiting pin 17. A protrusion is provided on the limiting pin 17. The area between the protrusion and the slider 11 constitutes a limiting area, and the limiting member 16 is restricted to sliding within the limiting area. The limiting member 16 can be made into the shape of a button. Pressing the limiting member 16 pushes the latch to slide against the elastic force of the elastic member 15.

[0054] A plurality of resilient locking elements 18 are arranged along the sliding direction of the latch relative to the base 9. The latch has a locking hole, and the resilient locking element 18 is mounted on the base 9, with one end abutting against the side wall of the latch or inserted into the locking hole to achieve a locking connection. The resilient locking element 18 includes a pin and a spring. The pin is slidably connected to the base 9, and a spring is provided between the pin and the base 9. The spring drives the pin to move in the direction of the latch, so that one end of the pin abuts against the side wall of the latch or is inserted into the locking hole to achieve a locking connection. Figure 7 As shown, in this embodiment, the adjustable drill has three bending angles: 0°, 30°, and 60°, corresponding to the three elastic locking elements 18 in the figure. When an elastic locking element 18 is inserted into the locking hole on the latch, it is in the corresponding angle position. In other embodiments, elastic locking elements 18 with other angles can be provided, and the number of elastic locking elements 18 is not limited. Several elastic locking elements 18 can all be located on one side of the latch, or as shown... Figure 7 The lock tongue is distributed on both sides as shown, which saves space.

[0055] A transition surface is provided between the locking hole and the side wall of the locking tongue. When the locking tongue slides against the elastic force of the elastic member 15, the elastic locking member 18 locked in the locking hole slides to the side wall of the locking tongue through the transition surface. Figure 8 As shown, the locking tongue is normally in the locked state. When the lower limit member 16 is pressed, the locking tongue opens as follows: Figure 8 Moving downwards, the elastic locking element 18 slides through the transition surface to the side wall of the latch, releasing the latch; then, the slider 11 (the latch, limit element 16, etc., will all slide together) is moved to the desired position, and then the limit element 16 is released. Under the action of the elastic element 15, the latch... Figure 8 When moved upwards, the elastic locking element 18 of the corresponding position will insert into the locking hole on the bolt and relock the bolt.

[0056] The position of the tensioning pulley 19 on the base 9 is adjustable to tension the adjusting wire. Specifically, the tensioning pulley 19 is fixed to the tensioning block 21 via a pulley pin 20, and the tensioning block 21 is slidably connected to the base 9; the adjusting screw 22 passes through the base 9 and the tensioning block 21 and is threadedly connected to them respectively. By rotating the adjusting screw 22, the tensioning block 21 can be slid, thereby adjusting the position of the tensioning pulley 19 to achieve the purpose of adjusting the wire tension.

[0057] The consumable assembly can be composed of a drill bit grinding mechanism, a fixing mechanism, a bending screw 7, a limiting screw 8, and a wire clip 10. The drive shaft 3 is detachably connected to the drill bit drive unit, and both the bending screw 7 and the limiting screw 8 are detachably connected to the bending drive unit. Specifically, the end of the drive shaft 3 connected to the drill bit drive unit can be set to a flat shape, and the end of the output shaft 26 of the drill bit drive unit is provided with a flat groove that matches the flat end of the drive shaft 3. The two are inserted to achieve a fixed connection. The drive shaft sleeve 6 can be detachably connected by a clamping mechanism set on the base 9. The clamping mechanism can be a clamp, a clamping block 27, etc. The adjusting screw 7 and the limiting screw 8 are wound on the fixed pulley and the tensioning pulley 19 and then connected together by the wire clip 10. Then, they are fixed to the slider 11 by the clamping block 12. At the same time, the tension of the adjusting screw after being connected together can be adjusted by driving the tensioning pulley 19 through the adjusting screw 22. Of course, in other embodiments, the drive shaft 3 and the drill bit drive unit, the drive shaft sleeve 6 and the base 9, as well as the bending screw 7 and the limiting screw 8 and the bending drive unit, may adopt other detachable connection structures, which are not limited here.

[0058] After the cutting area is ground by the grinding drill bit 1, debris will be produced. A negative pressure system can be installed to suck away this debris using negative pressure. Specifically, the drive shaft 3, the flexible drive component 2, and the grinding drill bit 1 are hollow and interconnected to form a negative pressure channel 23. One end of the negative pressure channel 23 has an opening 24 on the side of the grinding drill bit 1 that connects to the outside, and the other end is connected to a negative pressure generating mechanism. This mechanism creates negative pressure at the other end of the negative pressure channel 23 after the grinding drill bit stops working, thus sucking away the debris from the opening 24 through the negative pressure channel 23. The negative pressure generating mechanism includes a housing 25 and an air pump. The output shaft 26 of the grinding drill bit drive unit passes through the housing 25 and is rotatably connected to it in a sealed manner. The output shaft 26 has a cavity communicating with the negative pressure channel 23, and also has a through hole for connecting the inside of the housing 25 and the cavity. The working end of the air pump is connected to the inside of the housing 25 to extract gas from inside the housing 25. In actual use, the air pump does not work at first. The output end of the drill bit drive rotates to drive the drill bit 1 to grind. After grinding to a certain extent, the drill bit 1 stops grinding, and the air pump starts working to suck away the grinding debris. Then the air pump stops working, and the drill bit continues to grind, and so on.

[0059] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. An angle-adjustable drill for orthopedic robots, characterized in that, include: A drill bit grinding mechanism includes a drill bit driving unit, a drive shaft, a bendable transmission component, and a drill bit connected in sequence. The drill bit driving unit is used to drive the drill bit to rotate through the drive shaft and the bendable transmission component. A fixing mechanism includes a drive shaft fixing component and a drill bit fixing component. The drive shaft is rotatably mounted on the drive shaft fixing component, and the drill bit is rotatably mounted on the drill bit fixing component. The drive shaft fixing component and the drill bit fixing component are rotatably connected, and when rotated, they cause the bendable drive component to bend. The bendable drive component can transmit torque in the bent state. A bending adjustment drive mechanism includes a bending adjustment wire, a limiting wire, and a bending adjustment drive unit. The bending adjustment wire and the limiting wire are respectively connected to the drill bit fixing member and the bending adjustment drive unit, and the bending adjustment wire and the limiting wire are located on both sides of the rotation axis of the transmission shaft fixing member and the drill bit fixing member. The bending adjustment drive unit is used to drive the bending adjustment wire and the limiting wire to adjust the rotation angle of the drill bit fixing member relative to the transmission shaft fixing member. The drive shaft fixing component is a drive shaft sleeve, which is fitted over the drive shaft and rotatably connected to it; the bending drive mechanism also includes a base, and the drive shaft sleeve is detachably connected by a clamping mechanism provided on the base. The bending drive unit includes a slider and a locking structure. The ends of the bending wire and the limiting wire that are not connected to the drill bit fixing component are both connected to the slider. The bending wire, the slider, and the limiting wire constitute the adjusting wire. The bending wire and the limiting wire are connected as one unit by wire clips and the wire clips are clamped and fixed on the slider by clamping blocks. The base is provided with a tension pulley, and the adjusting wire passes around the tension pulley so that both ends are connected to the drill bit fixing component; the slider is slidably connected to the base, and the locking structure is used to lock or release the relative position of the slider and the base; The grinding bit mechanism, the fixing mechanism, the bending wire, and the limiting wire constitute a consumable assembly. The transmission shaft is detachably connected to the grinding bit drive unit, and the bending wire and the limiting wire are both detachably connected to the bending drive unit.

2. The angle-adjustable drill for orthopedic robots according to claim 1, characterized in that, The bendable transmission component is a flexible shaft.

3. The angle-adjustable drill for orthopedic robots according to claim 1, characterized in that, The drill bit fixing component is a drill bit sleeve, which is fitted over the drill bit and rotatably connected to it.

4. The angle-adjustable drill for orthopedic robots according to claim 1, characterized in that, The bending drive unit is mounted on the base.

5. The angle-adjustable drill for orthopedic robots according to claim 4, characterized in that, The locking structure includes: A locking tongue is slidably connected to the slider, and an elastic element is provided between the locking tongue and the slider. The elastic element is used to drive the locking tongue to slide until it is limited by the limiting element on the slider. A plurality of elastic locking elements are arranged along the sliding direction of the slider relative to the base; the latch is provided with a locking hole, and the elastic locking elements are installed on the base, with one end abutting against the side wall of the latch or inserted into the locking hole to achieve a locking connection.

6. The angle-adjustable drill for orthopedic robots according to claim 5, characterized in that, A transition surface is provided between the locking hole and the side wall of the locking tongue. When the locking tongue slides against the elastic force of the elastic member, the elastic locking member locked in the locking hole slides to the side wall of the locking tongue through the transition surface.

7. The angle-adjustable drill for orthopedic robots according to claim 5, characterized in that, The limiting member is slidably connected to the slider, and the sliding direction is the same as the sliding direction between the latch and the slider. When the limiting member slides, it cooperates with the elastic member to drive the latch to slide; the limiting member slides within the restricted range.

8. The angle-adjustable drill for orthopedic robots according to claim 5, characterized in that, The elastic locking component includes a pin and a spring. The pin is slidably connected to the base, and the spring is provided between the pin and the base. The spring is used to drive the pin to move in the direction of the latch, so that one end of the pin abuts against the side wall of the latch or is inserted into the locking hole to achieve a locking connection.

9. The angle-adjustable drill for orthopedic robots according to claim 4, characterized in that, The position of the tensioning pulley on the base is adjustable to tension the adjusting wire.

10. The angle-adjustable drill for orthopedic robots according to claim 1, characterized in that, The drive shaft, the flexible drive component, and the drill bit are hollow and interconnected to form a negative pressure channel. One end of the negative pressure channel has an opening on the side of the drill bit that connects to the outside, and the other end is connected to a negative pressure generating mechanism. The negative pressure generating mechanism is used to generate negative pressure at the other end of the negative pressure channel after the drill bit stops working, so as to suck away the grinding debris from the opening through the negative pressure channel.

11. The angle-adjustable drill for orthopedic robots according to claim 10, characterized in that, The output shaft of the drill bit drive unit is connected to the transmission shaft, and the negative pressure generating mechanism includes: The housing has an output shaft that passes through it and is rotatably connected to it in a sealed manner. The output shaft has a cavity that communicates with the negative pressure channel. The output shaft also has a through hole for communicating with the interior of the housing and the cavity. An air pump, the working end of which is connected to the inside of the housing, is used to extract gas from inside the housing.

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