Intelligent feeding type bone drill, control method thereof and orthopedic surgery robot

Abstract

The application discloses an intelligent feeding type bone drill, a control method thereof and an orthopedic surgery robot. The intelligent feeding type bone drill comprises a drill bit, a rotary driving part for driving the drill bit to perform rotary motion, and a feeding driving part for driving the drill bit to perform linear direction feeding motion; the feeding driving part comprises a feeding direction encoder for sensing the position of the feeding direction; a pull-pressure sensor part is connected to the rotary driving part and the feeding driving part and is used for sensing the pressure of the feeding direction; and a processor is used for adjusting the drilling parameters of the drill bit according to the position and the pressure. The intelligent feeding type bone drill and the control method thereof can realize accurate hole making function, thereby improving the accuracy, efficiency and safety of the bone drill, reducing the risk of causing damage to the nerves and soft tissues around the bone, and being favorable for shortening the postoperative rehabilitation time of the patient and reducing the labor intensity of the doctor.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to an intelligent feed bone drill, its control method, and an orthopedic surgical robot. Background Technology

[0002] With the continuous development of the transportation industry, the incidence of traffic accidents is also rising, and trauma has become a leading cause of death worldwide. Therefore, the development of new orthopedic surgical techniques is of great significance.

[0003] Bone drilling is a crucial surgical procedure in orthopedic surgery. Traditional bone drilling relies primarily on the surgeon holding the drill by hand. This method lacks the ability to adjust process parameters for different bone tissue layers, detect breakthroughs in a timely manner, and monitor drill wear and breakage. This results in poor precision, low safety, low efficiency, and high labor intensity. Especially since blood vessels, muscles, and nerves are abundant around bones, drilling must be stopped promptly when the desired depth is reached to avoid damage to surrounding nerves and soft tissues. If breakthroughs are not detected and stopped in time during bone drilling, the drill bit can penetrate soft tissue, causing serious damage to blood vessels, muscles, and nerves. Therefore, designing an intelligent feed bone drill and its control method can effectively solve these problems. Summary of the Invention

[0004] This invention provides an intelligent feed bone drill, its control method, and an orthopedic surgical robot, thereby overcoming the shortcomings of the prior art.

[0005] To achieve the aforementioned objectives, the present invention employs the following solution:

[0006] One aspect of the present invention provides an intelligent feed bone drill, comprising:

[0007] drill;

[0008] A rotary drive component is used to drive the drill bit to rotate.

[0009] A feed drive unit is used to drive the drill bit to perform linear feed motion; the feed drive unit includes a feed direction encoder, which is used to sense the position of the feed direction.

[0010] A tension / compression sensor component, connected to the rotary drive component and the feed drive component, is used to sense the pressure in the feed direction;

[0011] A processor for adjusting the drilling parameters of the drill bit based on the position and pressure.

[0012] Another aspect of the present invention provides a control method for an intelligent feed bone drill, the method comprising:

[0013] Obtain the position of the drill bit in the feed direction;

[0014] To obtain the pressure of the drill bit in the feed direction;

[0015] The drilling parameters of the drill bit are adjusted according to the location and pressure.

[0016] Another aspect of the present invention provides an orthopedic surgical robot, which includes a robotic arm, a computer control system, and the aforementioned intelligent feed bone drill, the intelligent feed bone drill being disposed on the end flange of the robot.

[0017] Compared with the prior art, the present invention has at least the following advantages:

[0018] 1) The intelligent feed bone drill provided by this invention is equipped with a drive motor, encoder and force / torque sensor in both rotation and feed directions. It can accurately sense and control the rotation speed, position and force in both rotation and feed directions, thereby improving the accuracy, efficiency and safety of the bone drill and reducing the labor intensity of doctors.

[0019] 2) The intelligent feed bone drill control method provided by the present invention, through the fusion of information from position sensors and force sensors, intelligently senses information such as the depth and position of the drill bit entering human bone tissue, thereby providing optimal process parameters according to the different characteristics of different locations in the bone tissue, and can perform precise breakthrough detection, reduce mechanical and thermal damage to bone tissue, and further improve the accuracy and safety of bone drill operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional view of the bone drill according to one embodiment of the present invention;

[0022] Figure 2 This is a system diagram of an orthopedic surgical robot according to one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram illustrating the change of force with feed position during bone tissue drilling according to one embodiment of the present invention;

[0024] Figure 4 This is a flowchart illustrating an embodiment of the intelligent feed bone drill and its control method.

[0025] Explanation of reference numerals in the attached drawings: 1- Rotary drive component; 2- Feed drive component; 3- Protective sleeve component; 4- Tension / compression sensor component; 5- Torque sensor component; 6- Robotic arm; 7- Adapter flange; 8- Robot base; 9- Cortical bone layer of bone tissue; 10- Cancellous bone layer of bone tissue. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the drawings. The embodiments of the present invention shown in and described with reference to the drawings are merely exemplary, and the present invention is not limited to these embodiments.

[0027] One aspect of the present invention provides an intelligent feed bone drill, comprising:

[0028] drill;

[0029] A rotary drive component is used to drive the drill bit to rotate.

[0030] A feed drive unit is used to drive the drill bit to perform linear feed motion; the feed drive unit includes a feed direction encoder, which is used to sense the position of the feed direction.

[0031] A tension / compression sensor component, connected to the rotary drive component and the feed drive component, is used to sense the pressure in the feed direction;

[0032] A processor for adjusting the drilling parameters of the drill bit based on the position and pressure.

[0033] In one embodiment, the bone drill further includes:

[0034] A torque sensor component, connected to the rotary drive component, is used to sense the torque in the direction of drill bit rotation;

[0035] The protective sleeve component, connected to the front end of the feed drive component, guides the drill bit and protects human tissue from being entangled by the high-speed rotating drill bit.

[0036] In one embodiment, the processor is configured to, based on the measurement data F from the tension / compression sensor... z The drilling zero position is set using the measurement data from the feed direction encoder, specifically including:

[0037] Set drilling parameters, including feed rate f, spindle speed υ, and desired smart bone drill position x. d The initial position x of the bone drill in the feed direction i ;

[0038] After the drill bit starts moving, the tension / compression sensor collects the pressure signal in the feed direction, and the feed direction encoder collects the position signal in the feed direction. If |F z -F (z-1) |≥F t This means that the drill bit has contacted the first layer of cortical bone, and the current position is set as the drilling zero position.

[0039] Among them, F z F represents the pressure in the drill bit feed direction at the current moment, collected by the tension / compression sensor. (z-1) F represents the pressure in the drill bit feed direction collected by the tension / compression sensor at the previous moment. t The threshold representing the difference in force value.

[0040] In one embodiment, the processor is further configured to, based on the measurement data F from the tension / compression sensor... z The measurement data from the feed direction encoder enables breakthrough detection and automatic adjustment of process parameters in the three-stage drilling process, specifically including:

[0041] Phase 1: Checking whether the drill bit has broken through the first layer of cortical bone tissue;

[0042] If |F z -F (z-1) |≥F t ,|x n -x d (A) |≤ε, meaning the drill bit has broken through the first layer of cortical bone, the drilling parameters of the bone drill will be adjusted to low speed and high feed.

[0043] Second stage: Check whether the drill bit has broken through the second layer of cancellous bone in the bone tissue;

[0044] If |F z -F (z-1) |≥F t ,|x n -x d (B) |≤ε, meaning the drill bit has broken through the second layer of cancellous bone, the drilling parameters of the bone drill will be adjusted to high speed and low feed.

[0045] Third stage: Check whether the drill bit has broken through the third layer of cortical bone;

[0046] If |F z -F (z-1) |≥F t ,|x n -x d (C) If |≤ε, meaning the drill bit has broken through the third layer of cortical bone, the bone drill will stop drilling and return to its initial position x.i ;

[0047] Where, x d (A) This indicates the desired feed position where the bone drill reaches the junction of the first layer of cortical bone and the second layer of cancellous bone, x. d (B) This indicates the desired feed position where the bone drill reaches the junction of the second layer of cancellous bone and the third layer of cortical bone, x. d (C) This indicates the desired feed position where the bone drill reaches the junction of the third layer of cortical bone and other tissues, x. n ε represents the actual feed position of the drill bit, and ε represents the safe limit distance of the bone drill.

[0048] In one embodiment, the processor adjusts the process parameters specifically as follows:

[0049] F z =C z ×f a ×v b

[0050] Among them, C z Here, C is a correction coefficient, a and b are influence indices, and C is a factor of influence. z >0, a>0, b<0.

[0051] Another aspect of the present invention provides a control method for an intelligent feed bone drill, the method comprising:

[0052] Obtain the position of the drill bit in the feed direction;

[0053] To obtain the pressure of the drill bit in the feed direction;

[0054] The drilling parameters of the drill bit are adjusted according to the location and pressure.

[0055] In one embodiment, the method further includes setting a drilling zero position, specifically:

[0056] Set drilling parameters, including feed rate f, spindle speed υ, and desired smart bone drill position x. d The initial position x of the bone drill in the feed direction i ;

[0057] After the drill bit starts moving, the pressure and position signals in the drill bit's feed direction are collected. If |F z -F (z-1) |≥F t This means that the drill bit has contacted the first layer of cortical bone, and the current position is set as the drilling zero position.

[0058] Among them, F zF represents the pressure in the drill bit feed direction at the current moment. (z-1) F represents the pressure in the feed direction of the drill bit at the previous moment. t The threshold representing the difference in force value.

[0059] In one embodiment, the method further includes achieving breakthrough detection and automatic adjustment of process parameters in the three-stage drilling process, specifically:

[0060] Phase 1: Checking whether the drill bit has broken through the first layer of cortical bone tissue;

[0061] If |F z -F (z-1) |≥F t ,|x n -x d (A) |≤ε, meaning the drill bit has broken through the first layer of cortical bone, the drilling parameters of the bone drill will be adjusted to low speed and high feed.

[0062] Second stage: Check whether the drill bit has broken through the second layer of cancellous bone in the bone tissue;

[0063] If |F z -F (z-1) |≥F t ,|x n -x d (B) |≤ε, meaning the drill bit has broken through the second layer of cancellous bone, the drilling parameters of the bone drill will be adjusted to high speed and low feed.

[0064] Third stage: Check whether the drill bit has broken through the third layer of cortical bone;

[0065] If |F z -F (z-1) |≥F t ,|x n -x d (C) If |≤ε, meaning the drill bit has broken through the third layer of cortical bone, the bone drill will stop drilling and return to its initial position x. i ;

[0066] Where, x d (A) This indicates the desired feed position where the bone drill reaches the junction of the first layer of cortical bone and the second layer of cancellous bone, x. d (B) This indicates the desired feed position where the bone drill reaches the junction of the second layer of cancellous bone and the third layer of cortical bone, x. d (C) This indicates the desired feed position where the bone drill reaches the junction of the third layer of cortical bone and other tissues, x. nε represents the actual feed position of the drill bit, and ε represents the safe limit distance of the bone drill.

[0067] In one embodiment, the automatic adjustment of the process parameters specifically includes:

[0068] F z =C z ×f a ×v b

[0069] Among them, C z Here, C is a correction coefficient, a and b are influence indices, and C is a factor of influence. z >0, a>0, b<0.

[0070] Another aspect of the present invention provides an orthopedic surgical robot, which includes a robotic arm, a computer control system, and the aforementioned intelligent feed bone drill, the intelligent feed bone drill being disposed on the end flange of the robot.

[0071] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the drawings. The embodiments of the present invention shown in and described with reference to the drawings are merely exemplary, and the present invention is not limited to these embodiments.

[0072] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0073] like Figure 1 As shown, the intelligent feed-type bone drill disclosed in this invention mainly includes a rotary drive component 1, a feed drive component 2, a protective sleeve component 3, a tension / compression sensor component 4, and a torque sensor component 5. The rotary drive component 1 drives the drill bit to rotate; the feed drive component 2 drives the drill bit to perform linear feed motion; the protective sleeve component 3 guides the drill bit and protects human tissue from being entangled by the high-speed rotating drill bit; the tension / compression sensor component 4 connects the rotary drive component 1 and the feed drive component 2 to sense the pressure in the feed direction; and the torque sensor component 5 senses the torque in the rotation direction of the bone drill.

[0074] like Figure 2 As shown, during operation, a feed-type bone drill of the present invention is mounted at the end of a robotic arm 6 via an adapter flange 7. The robotic arm 6 is mounted on a robot base 8, which can be a fixed base or a movable base as needed. Together with a computer control system, they form an orthopedic surgical robot system. In this case, x in the intelligent control method n xi and x d This can be equivalent to the current position, initial position, and desired position of the robotic arm's end effector; all other parameters are also given by the robotic system. During surgery, the robot actively or passively moves to the designated position according to the pre-operative plan. Once the robot stops moving, the bone drill begins drilling according to preset values.

[0075] like Figure 3 The diagram illustrates the force variation with feed position during bone drilling, as provided by this invention. The axial feed force and position signal generated during drilling are the primary sources for detecting drill bit breakage. Before the procedure, the user uses specialized pre-operative planning software to preliminarily determine the depth of different bone layers corresponding to the drilling location, i.e., the desired position x of different bone layers. d (A) x d (B) and x d (C) Among them, x d (A) The finger drill reaches the desired feed position at the junction of the first layer of cortical bone and the second layer of cancellous bone, x d (B) The finger drill reaches the desired feed position at the junction of the second layer of cancellous bone and the third layer of cortical bone, x d (C) The desired feed position of the phalanx drill at the junction of the third cortical bone and other tissues. In traditional bone drilling operations, the surgeon's handheld electric drill inevitably leads to human error, making it difficult to ensure the drill bit penetrates the bone tissue perpendicularly, causing the drill bit to become misaligned. Furthermore, the surgeon's handheld electric drill makes it impossible to determine whether the drill bit has reached the desired depth and stop drilling in time, which can seriously damage the blood vessels, muscles, and nerves around the bone. Therefore, to avoid this situation, we designed a detection method based on formula (1), that is, using the difference between the actual feed position and the desired feed position of the drill bit.

[0076] |x n -x d |≤ε (1)

[0077] Where, x n The actual feed position of the drill bit, x d ε refers to the desired feed position of the drill bit, while ε refers to the safe limit distance of the bone drill. Currently, the acceptable safe limit distance is 1-2mm, so ε can be flexibly adjusted within 1-2mm depending on the drilling location.

[0078] However, due to factors such as robot positioning accuracy, there are deviations in position and angle between the actual drilling point and the pre-planned drilling point. Therefore, simply comparing the feed position information with the pre-measured distance is inaccurate. This control method, based on the position information, incorporates force information and determines the actual position of the drill bit in the bone tissue by fusing the two information. From the force-time curve during drilling, it is evident that the force changes drastically when the drill bit intersects with the cortical and cancellous layers of bone. However, due to the density changes throughout the bone, there are several peaks and troughs in the force profile. Force fluctuations can affect the detection method, leading to erroneous drill bit breakout events. Therefore, to avoid this situation, we design a detection method based on formula (2), that is, utilizing the force value difference during drastic changes.

[0079] |F z -F (z-1) |≥F t (2)

[0080] The force measured during drilling is in a uniaxial direction, and the force in the Z direction (i.e., the drill bit feed direction) is denoted as F. z F (z-1) F represents the force signal at the previous moment. z F represents the current signal measured by the tension / compression sensor. t This represents the threshold value indicating the difference in force between the two forces. Where F... t The numerical value can be adjusted appropriately according to the different drilling parts. In formula (2), F z The difference in values ​​and the threshold F set initially t A comparison was made. This theory applies to the three stages of the entire process of drilling bone tissue: first layer of cortical bone → second layer of cancellous bone; second layer of cancellous bone → third layer of cortical bone; third layer of cortical bone → other tissues.

[0081] Furthermore, the drilling experiment results for cancellous bone and cortical bone at different feed rates and rotation speeds show that: when drilling cortical bone, the axial feed force is relatively large. Selecting a high rotation speed and low feed rate can effectively reduce the axial feed force during the drilling process, thereby reducing the friction between the drill bit and the bone tissue and lowering the temperature rise of the drill bit during drilling; when drilling cancellous bone, the axial feed force is relatively small. Selecting a low rotation speed and high feed rate can effectively improve the drilling efficiency, and the time required to drill bone of the same thickness is shorter, reducing the heat transferred to the bone tissue. At the same time, a low rotation speed can also reduce the heat generation of the rotary drive motor.

[0082] like Figure 4 As shown in the figure, an intelligent feed bone drill and its control method provided by an embodiment of the present invention include the following steps:

[0083] First, it starts by setting the drilling parameters: feed rate f, spindle speed υ, and desired smart bone drill position x. d The initial position x of the intelligent bone drill in the feed direction i .

[0084] Tension / compression sensors, a feed direction encoder, and a torque sensor respectively sense the force, feed position, and torque during the drilling process. The torque sensor's measurement data allows for real-time monitoring of drill bit wear and breakage throughout the entire drilling process. Then, the tension / compression sensor's measurement data F... z The measurement data from the feed direction encoder is used in methods for setting the drilling zero point, detecting breakthroughs in the three-stage drilling process, and automatically adjusting process parameters.

[0085] After the drill bit begins to move, the tension / compression sensor and the feed direction encoder collect values. If this triggers the event: |F z -F (z-1) |≥F t This means that the drill bit has contacted the first layer of cortical bone, and the current position is set as the drilling zero point, providing a reference point for the feed position for breakthrough detection and automatic adjustment of process parameters in the next three stages of drilling.

[0086] Phase 1: Detect whether the drill bit has broken through the first layer of cortical bone. If it triggers the event: |F z -F (z-1) |≥F t ,|x n -x d (A) If |≤ε, it means that the drill bit has broken through the first layer of cortical bone tissue. The drilling parameters of the intelligent bone drill will be adjusted to low speed and high feed, automatically adjusting the process parameters for the second stage of drilling cancellous bone.

[0087] The low-speed, high-feed operation here refers to a decrease in rotational speed and an increase in feed rate relative to the initial drilling of the first layer of cortical bone. In other words, this low-speed, high-feed operation is the process parameter for drilling the second layer of cancellous bone. Human bone tissue consists of cortical bone, which has high material density and small volume thickness, and cancellous bone, which has low material density and large volume thickness. Drilling experiment data shows that: F z =C z ×f a ×v b (C z >0, a>0, b<0), where C zFor correction coefficients, a and b are the degree of influence index, that is, the drilling spindle force decreases with the increase of rotational speed and increases with the increase of feed rate. (1) In the process of drilling cortical bone with high material density and small volume thickness, the drilling process parameters are selected with a higher rotational speed and a smaller feed rate, which can reduce the mechanical and thermal damage to bone tissue and effectively protect the drill bit to ensure the safety of drilling; (2) In the process of drilling cancellous bone with low material density and large volume thickness, the drilling process parameters are selected with a lower rotational speed and a larger feed rate, which can reduce the heat generation of the rotary motor and reduce the drilling time to effectively improve drilling efficiency.

[0088] Phase Two: Detect whether the drill bit has broken through the second layer of cancellous bone. If it triggers the event: |F z -F (z-1) |≥F t ,|x n -x d (B) If |≤ε, it means that the drill bit has broken through the second layer of cancellous bone tissue. The drilling parameters of the intelligent bone drill will be adjusted to high speed and small feed, and the process parameters will be automatically adjusted for drilling the third stage of cortical bone.

[0089] The high-speed, low-feed operation here refers to increasing the rotational speed and decreasing the feed rate relative to drilling the second layer of cancellous bone. In other words, this high-speed, low-feed operation is the process parameter for drilling the third layer of cortical bone. The rotational speed adjusted in the second stage is greater than that adjusted in the first stage, while the feed rate adjusted in the second stage is less than that adjusted in the first stage. Human bone tissue consists of cortical bone, which has high material density and small volume thickness, and cancellous bone, which has low material density and large volume thickness. Drilling experimental data shows that: F z =C z ·f a ·υ b (C z >0, a>0, b<0), where C z For correction coefficients, a and b are the degree of influence index, that is, the drilling spindle force decreases with the increase of rotational speed and increases with the increase of feed rate. (1) In the process of drilling cortical bone with high material density and small volume thickness, the drilling process parameters are selected with a higher rotational speed and a smaller feed rate, which can reduce the mechanical and thermal damage to bone tissue and effectively protect the drill bit; (2) In the process of drilling cancellous bone with low material density and large volume thickness, the drilling process parameters are selected with a lower rotational speed and a larger feed rate, which can reduce the heat generation of the rotary motor and reduce the drilling time, effectively improving the drilling efficiency.

[0090] Phase 3: Detect whether the drill bit has broken through the third layer of cortical bone. If it triggers the event: |F z -F (z-1) |≥Ft ,|x n -x d (C) If |≤ε, meaning the drill bit has broken through the third layer of cortical bone, the intelligent bone drill will stop drilling and return to its initial position x. i The intelligent bone drill returns to its initial position x. i Afterwards, drilling parameters can be changed to conduct other experiments. If no further drilling occurs, the process ends.

[0091] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions of each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent feed-type bone drill, characterized in that, include: drill; A rotary drive component is used to drive the drill bit to rotate. A feed drive unit is used to drive the drill bit to perform linear feed motion; the feed drive unit includes a feed direction encoder, which is used to sense the position of the feed direction. A tension / compression sensor component, connected to the rotary drive component and the feed drive component, is used to sense the pressure in the feed direction; Processor, configured to process the measurement data from the tension / compression sensor. The measurement data from the feed direction encoder enables the setting of the drilling zero position and the detection of breakthroughs in the three-stage drilling process, as well as the automatic adjustment of process parameters. Specifically, the setting of the drilling zero position includes: Set drilling parameters, including feed rate. Spindle rotation speed Desired location of the smart bone drill Initial position of the bone drill in the feed direction ; After the drill bit starts moving, the tension / compression sensor collects the pressure signal in the feed direction, and the feed direction encoder collects the position signal in the feed direction. If This means the drill bit has contacted the first layer of cortical bone, and the current position is set as the drilling zero position. This indicates the pressure in the drill bit feed direction at the current moment, collected by the tension / compression sensor. This indicates the pressure in the drill bit's feed direction at the moment the tension / compression sensor acquired the data. The threshold representing the difference in force value; The breakthrough detection and automatic adjustment of process parameters in the three-stage drilling process specifically include: Phase 1: Checking whether the drill bit has broken through the first layer of cortical bone tissue; if This means that the drill bit has broken through the first layer of cortical bone tissue, and the drilling parameters of the bone drill will be adjusted to low speed and high feed. Second stage: Check whether the drill bit has broken through the second layer of cancellous bone in the bone tissue; if This means that the drill bit has broken through the second layer of cancellous bone in the bone tissue, and the drilling parameters of the bone drill will be adjusted to high speed and low feed. Third stage: Check whether the drill bit has broken through the third layer of cortical bone; if When the drill bit has broken through the third layer of cortical bone, the bone drill will stop drilling and return to its initial position. ; in, This indicates the desired feed position where the bone drill reaches the junction of the first layer of cortical bone and the second layer of cancellous bone. This indicates the desired feed position where the bone drill reaches the junction of the second layer of cancellous bone and the third layer of cortical bone. This indicates the desired feed position where the bone drill reaches the junction of the third layer of cortical bone and other tissues. This indicates the actual feed position of the drill bit. Indicates the safe limit distance for bone drills; The specific adjustments to the process parameters are as follows: ； in Here, a and b are correction coefficients, and they are influence indices. .

2. The intelligent feed bone drill according to claim 1, characterized in that, The bone drill also includes: A torque sensor component, connected to the rotary drive component, is used to sense the torque in the direction of drill bit rotation; The protective sleeve component, connected to the front end of the feed drive component, guides the drill bit and protects human tissue from being entangled by the high-speed rotating drill bit.

3. An orthopedic surgical robot, characterized in that, It includes a robotic arm, a computer control system, and an intelligent feed bone drill as described in any one of claims 1-2, wherein the intelligent feed bone drill is mounted on the end flange of the robot.

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