A clamping mechanism for an orthopedic surgical robot

Abstract

This invention relates to a clamping mechanism for an orthopedic surgical robot, comprising an arm body, a clamping arm, and a limiting arm; the arm body serves as a support and rotating component for the clamping arm and the limiting arm; the clamping arm is located at the output end of the arm body, and a rotating cavity is formed inside the clamping arm. An inclined plate allows the drill shank to smoothly enter between multiple limiting plates. Under the action of a telescopic component and a spring, the surfaces of the four limiting plates are tightly fitted to the surface of the drill shank, allowing the drill shank to automatically center itself within the mounting cavity. At this time, the negative electromagnet is activated while the positive electromagnet is deactivated. Utilizing the repulsion of like poles, the top block inserts into the limiting grooves on the same plane of the two rotating seats, preventing relative rotation between the two rotating seats. Simultaneously, the state of the telescopic component is limited, ensuring that the drill shank remains centered even after rotation, thereby improving the clamping efficiency of the drill shank and enabling centered clamping of drill shanks of different sizes.

Description

Technical Field

[0001] This invention belongs to the field of surgical instrument technology, specifically a clamping mechanism for an orthopedic surgical robot. Background Technology

[0002] One of the main challenges facing orthopedic surgery today is how to accurately determine the surgical approach and depth. With the help of orthopedic surgical robots, the reliance on the surgeon's experience and skills can be reduced, enabling rapid planning of the surgical approach and precise control of the surgical depth, which greatly reduces the surgical failure rate.

[0003] When clamping and installing the drill rod of a conventional orthopedic robot, a through hole is usually drilled on the surface of the drill rod, and then a screw is passed through the through hole. Since there will be a gap between the through hole and the screw, and the dimensions of the robot's pre-installation cavity will also have slight differences from the dimensions of different drill rods, the drill rod is prone to shaking after installation, which affects the stability of the orthopedic robot during operation. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a clamping mechanism for an orthopedic surgical robot, comprising an arm body, a clamping arm, and a limiting arm;

[0006] The arm body is a supporting and rotating component for the clamping arm and the limiting arm;

[0007] The clamping arm is located at the output end of the arm body. The clamping arm has a rotating cavity inside, and a rotating sleeve is rotatably connected in the rotating cavity. When the square drive shaft along the inner edge of the rotating cavity rotates, the rotating sleeve can rotate synchronously. The rotating sleeve has an installation cavity inside, and the installation cavity is square in shape. The rotating sleeve is cylindrical in shape. A limit plate is provided in the installation cavity. An installation groove is provided along the inner edge of the installation cavity. A telescopic member is provided between the installation groove and the inner edge of the limit plate. A storage groove is provided along the inner edge of the installation cavity, and a baffle is rotatably connected in the storage groove.

[0008] The limiting arm is located at the open end of the clamping arm. A telescopic chamber is provided on the inner edge of the limiting arm. A limiting seat is slidably connected in the telescopic chamber. A gear is also rotatably connected in the telescopic chamber. A guide wheel is rotatably connected to one end of the limiting seat that extends out of the telescopic chamber. The guide wheel can rotate relative to the drill rod after contacting it, thereby guiding the drill rod.

[0009] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, four limiting plates are arranged at equal angles about the axis of the rotating sleeve, and each limiting plate is parallel to one surface of the mounting cavity at its nearest position, so that the limiting plate can fit tightly with multiple surfaces of the drill shank.

[0010] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, one end of the limiting plate is hinged to an inclined plate, and the end of the inclined plate away from the limiting plate is rotatably connected to a guide frame. A sliding groove is provided on the inner edge of the mounting cavity, and the guide frame slides inside the sliding groove. Since both ends of the inclined plate can be hinged, the limiting plate can maintain stable telescopic movement.

[0011] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, a spring is provided at the central hinge of the telescopic component. The two sets of telescopic components on the same limiting plate are symmetrically distributed, which can further enhance the compression and support of the limiting plate on the drill shank. The spring can cause the telescopic component to unfold without being compressed.

[0012] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, the telescopic component mainly includes a support rod, a rotating seat, and a spindle seat. Two sets of support rods are provided, and rotating seats are provided at the joints of the two sets of support rods. The spindle seat is connected through to the two rotating seats, so that the two rotating seats can rotate relative to each other. The two ends of the spring are respectively connected to the inner edges of the two support rods. By utilizing the rotating seats and the spindle seat, the telescopic component can be expanded and contracted.

[0013] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, both rotating seats have equal-angled limiting grooves inside. The spindle seat has a receiving cavity inside, and a top block is slidably connected inside the receiving cavity. The surface of the top block extending into the receiving cavity is negative, and the shape of the end of the top block extending out of the receiving cavity is the same as that of the limiting groove. Two control power supplies are provided in the middle of the spindle seat. A negative electromagnet and a positive electromagnet are provided along the inner edge of the receiving cavity. The two control power supplies are electrically connected to the negative electromagnet and the positive electromagnet, respectively. The control power supplies drive the negative electromagnet and the positive electromagnet, respectively, so that the top block can move telescopically within the receiving cavity.

[0014] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, the storage slots are arranged at equal angles about the axis of the rotating sleeve. Each of the four baffles is equipped with a gear, and the outer sides of the four gears mesh with an internal gear ring. When the internal gear ring is controlled to rotate, the four gears can rotate synchronously and in the same direction.

[0015] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, the telescopic chamber has six chambers distributed at equal angles with respect to the axis of the limiting arm. A rack is provided on the side of the limiting seat near the second gear. The limiting seat is driven by the rack meshing with the second gear. After the second gear meshes with the rack, the limiting seat can move telescopically within the telescopic chamber.

[0016] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, the limiting arm is provided with an internal toothed ring II, which meshes with gear II for transmission. When the internal toothed ring II rotates, it can synchronously and in the same direction drive multiple gear IIs to rotate.

[0017] As a preferred technical solution for the clamping mechanism of an orthopedic surgical robot, the outer surface of the limiting arm is provided with a guide hole, and the outer surface of the internal toothed ring is provided with a threaded rod. The threaded rod slides inside the guide hole, and a nut is threaded on the outer side of the end of the threaded rod extending out of the limiting arm. By utilizing the sliding of the threaded rod inside the guide hole, the internal toothed ring can be controlled to rotate. By utilizing the nut and the threaded rod, the internal toothed ring can be positioned when it rotates to a specified angle.

[0018] The beneficial effects of this invention are:

[0019] 1. The inclined plate allows the drill shank to smoothly enter between multiple limiting plates. Under the action of the telescopic component and the spring, the surfaces of the four limiting plates will fit tightly against the surface of the drill shank, so that the drill shank can automatically center itself in the mounting cavity. At this time, the negative electromagnet is activated and the positive electromagnet is deactivated. Utilizing the repulsion of like poles, the top block is inserted into the limiting groove on the same plane of the two rotating seats, so that the two rotating seats cannot rotate relative to each other. At the same time, the state of the telescopic component is limited, so that the drill shank can still maintain the centered state after being rotated, thereby improving the clamping efficiency of the drill shank. It can also center and clamp drill shanks of different sizes.

[0020] 2. By controlling the rotation of the internal gear ring, multiple baffles can be rotated to the front end position of the drill shank, thereby preventing the drill shank from falling off after installation.

[0021] 3. By using a rotating threaded rod, the threaded rod is linked to the internal gear ring two, which meshes with the gear two, and then meshes with the rack again, causing the limit seat to move telescopically until the guide wheel is in contact with the surface of the drill rod. Multiple guide wheels can prevent the drill rod from shaking when rotating, thus ensuring the stability of the drill rod during operation. At the same time, the rotatable guide wheel can provide auxiliary guidance for the drill rod when rotating.

[0022] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 This is a partial schematic diagram of the arm body of the present invention.

[0026] Figure 3 For the present invention Figure 2 Enlarged diagram of point A in the middle.

[0027] Figure 4 This is a schematic cross-sectional view of the BB section of the present invention.

[0028] Figure 5 This is a schematic cross-sectional view of the CC section of the present invention.

[0029] Figure 6 This is a schematic diagram showing the connection of the baffle, gear 1, and internal gear ring 1 according to the present invention.

[0030] Figure 7 This is a schematic diagram of the connection between the limiting plate and the inclined plate of the present invention.

[0031] Figure 8 This is a right-side sectional view of the limiting arm of the present invention.

[0032] Figure 9 This is a schematic diagram of the transmission structure of the limiting seat, gear two, and internal gear ring two of the present invention.

[0033] Figure 10 This is a schematic diagram of the telescopic component structure of the present invention.

[0034] Figure 11 This is a schematic diagram of the rotating seat structure of the present invention.

[0035] Figure 12 This is a cross-sectional schematic diagram of the rotating seat of the present invention.

[0036] Reference numerals: 100, Arm body; 200, Clamping arm; 201, Rotating cavity; 202, Rotating sleeve; 203, Mounting cavity; 210, Limiting plate; 211, Mounting groove; 212, Telescopic component; 2121, Support rod; 2122, Rotating seat; 2123, Shaft seat; 2124, Limiting groove; 2125, Storage cavity; 2126, Top block; 2127, Control power supply; 2128, Negative electromagnet; 212 9. Positive electromagnet; 213. Spring; 214. Inclined plate; 215. Slide groove; 216. Guide frame; 220. Storage slot; 221. Baffle; 222. Gear 1; 223. Internal gear ring 1; 300. Limiting arm; 301. Telescopic chamber; 302. Gear 2; 303. Limiting seat; 304. Rack; 305. Internal gear ring 2; 306. Guide wheel; 307. Guide hole; 308. Threaded rod; 309. Nut. Detailed Implementation

[0037] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0040] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0041] Example 1

[0042] Reference Figure 1 , 23, 4, 7, 10, 11, and 12 are the first embodiments of the present invention. This embodiment provides a clamping mechanism for an orthopedic surgical robot, including an arm body 100, a clamping arm 200, and a limiting arm 300. The arm body 100 is a supporting and rotating component for the clamping arm 200 and the limiting arm 300. The clamping arm 200 is located at the output end of the arm body 100. A rotating cavity 201 is provided inside the clamping arm 200. A rotating sleeve 202 is rotatably connected in the rotating cavity 201. When the square drive shaft along the inner edge of the rotating cavity 201 rotates, the rotating sleeve 202 can be linked to rotate synchronously. An installation cavity 203 is provided inside the rotating sleeve 202. The installation cavity 203 is square in shape, and the overall shape of the rotating sleeve 202 is cylindrical.

[0043] A limiting plate 210 is provided inside the mounting cavity 203, and a mounting groove 211 is provided on the inner edge of the mounting cavity 203. A telescopic member 212 is provided between the mounting groove 211 and the inner edge of the limiting plate 210.

[0044] Specifically, four limiting plates 210 are arranged at equal angles about the axis of the rotating sleeve 202. Each limiting plate 210 is parallel to one surface of the mounting cavity 203 near it, so that the limiting plate 210 can fit tightly with multiple surfaces of the drill shank. One end of the limiting plate 210 is hinged to an inclined plate 214, and the end of the inclined plate 214 away from the limiting plate 210 is rotatably connected to a guide frame 216. A sliding groove 215 is opened on the inner edge of the mounting cavity 203, and the guide frame 216 slides inside the sliding groove 215. Since both ends of the inclined plate 214 can be hinged, the limiting plate 210 can maintain stable telescopic movement. A spring 213 is provided at the central hinge of the telescopic member 212. Two sets of telescopic members 212 on the same limiting plate 210 are symmetrically distributed, which can further strengthen the compression and support of the limiting plate 210 on the drill shank. The spring 213 can cause the telescopic member 212 to unfold without compression.

[0045] The telescopic component 212 mainly includes a support rod 2121, a rotating seat 2122, and a shaft seat 2123. Two sets of support rods 2121 are provided, and rotating seats 2122 are provided at the joints of both sets of support rods 2121. The shaft seat 2123 is connected through to the two rotating seats 2122, allowing the two rotating seats 2122 to rotate relative to each other. The two ends of the spring 213 are respectively connected to the inner edges of the two support rods 2121. The rotating seats 2122 and the shaft seat 2123 enable the telescopic component 212 to expand and contract. Each of the two rotating seats 2122 has equally angled limiting grooves 2124 inside. The shaft seat 2123 has a receiving cavity 2125 inside. A top block 2126 is slidably connected inside the 2125. The surface of the top block 2126 extending into the storage cavity 2125 is negative, and the end of the top block 2126 extending out of the storage cavity 2125 has the same shape as the limiting groove 2124. Two control power supplies 2127 are provided in the middle of the shaft seat 2123. A negative electromagnet 2128 and a positive electromagnet 2129 are provided on the inner edge of the storage cavity 2125. The two control power supplies 2127 are electrically connected to the negative electromagnet 2128 and the positive electromagnet 2129, respectively. The control power supplies 2127 drive the negative electromagnet 2128 and the positive electromagnet 2129, respectively, so that the top block 2126 can move telescopically in the storage cavity 2125.

[0046] According to Embodiment 1, the drill shank is inserted into the mounting cavity 203 through the opening of the clamping arm 200. Under the action of the inclined plate 214, the drill shank can smoothly enter the mounting cavity 203. Under the action of the limiting plate 210, the telescopic member 212, and the spring 213, the surfaces of the four limiting plates 210 will be tightly fitted with the surface of the drill shank. Furthermore, under the action of the four sets of telescopic members 212 and the spring 213, the drill shank can automatically center itself in the mounting cavity 203. During this process, the positive electromagnet 2129 and the top block 2126 are attracted by opposite poles, and the negative electromagnet 2129 and the top block 2126 are attracted by opposite poles. When 128 is not running, after the drill shank is fully inserted into the mounting cavity 203, the negative electromagnet 2128 is activated and the positive electromagnet 2129 is stopped. At this time, the negative electromagnet 2128 and the top block 2126 are repelled by their similar polarity, causing the top block 2126 to extend and insert into the limiting groove 2124 on the same plane of the two rotating seats 2122. At this time, the two rotating seats 2122 are limited and cannot generate relative rotation. At this time, the state of the telescopic member 212 is limited. At this time, the drill shank can be automatically clamped in the center, and it can also be clamped in the center for drill shanks of different sizes.

[0047] Example 2

[0048] Reference Figure 1 , 3As shown in Figures 5 and 6, this is the second embodiment of the present invention. This embodiment provides a clamping mechanism for an orthopedic surgical robot, including an arm body 100, a clamping arm 200, and a limiting arm 300. The arm body 100 is a supporting and rotating component for the clamping arm 200 and the limiting arm 300. The clamping arm 200 is located at the output end of the arm body 100. A rotating cavity 201 is provided inside the clamping arm 200. A rotating sleeve 202 is rotatably connected in the rotating cavity 201. When the square drive shaft along the inner edge of the rotating cavity 201 rotates, the rotating sleeve 202 can be linked to rotate synchronously. An installation cavity 203 is provided inside the rotating sleeve 202. The installation cavity 203 is square in shape, and the overall shape of the rotating sleeve 202 is cylindrical.

[0049] A storage groove 220 is provided along the inner edge of the mounting cavity 203, and a baffle 221 is rotatably connected in the storage groove 220.

[0050] Specifically, there are four storage slots 220 arranged at equal angles about the axis of rotation of the rotating sleeve 202. Each of the four baffles 221 has a gear 222 at its rotation axis. The outer sides of the four gears 222 mesh with an internal gear ring 223. When the internal gear ring 223 is controlled to rotate, the four gears 222 can rotate synchronously and in the same direction. The internal gear ring 223 can be controlled to rotate by a micro motor.

[0051] According to Example 2, the micro motor controls the internal gear ring 223 to rotate. By using the meshing transmission structure, the gear 222 and the baffle 221 can rotate in the same direction. When the baffle 221 rotates to the front end of the drill shank, the drill shank cannot fall out of the mounting cavity 203.

[0052] Example 3

[0053] Reference Figure 1 , 2 As shown in Figures 8 and 9, this is the third embodiment of the present invention. This embodiment provides a clamping mechanism for an orthopedic surgical robot, including an arm body 100, a clamping arm 200, and a limiting arm 300. The arm body 100 is a supporting and rotating component for the clamping arm 200 and the limiting arm 300. The clamping arm 200 is located at the output end of the arm body 100. A rotating cavity 201 is provided inside the clamping arm 200. A rotating sleeve 202 is rotatably connected in the rotating cavity 201. When the square drive shaft along the inner edge of the rotating cavity 201 rotates, the rotating sleeve 202 can be linked to rotate synchronously. An installation cavity 203 is provided inside the rotating sleeve 202. The installation cavity 203 is square in shape, and the overall shape of the rotating sleeve 202 is cylindrical.

[0054] The limiting arm 300 is located at the open end of the clamping arm 200. A telescopic chamber 301 is provided on the inner edge of the limiting arm 300. A limiting seat 303 is slidably connected in the telescopic chamber 301. A gear 302 is also rotatably connected in the telescopic chamber 301. A guide wheel 306 is rotatably connected to one end of the limiting seat 303 that extends out of the telescopic chamber 301. The guide wheel 306 can rotate relative to the drill rod after contacting it, thereby guiding the drill rod.

[0055] Specifically, the telescopic chamber 301 has six parts distributed at equal angles about the axis of the limiting arm 300. A rack 304 is provided on the side of the limiting seat 303 closest to the second gear 302. The limiting seat 303 meshes with the second gear 302 via the rack 304, allowing the limiting seat 303 to telescopically move within the telescopic chamber 301. An internal gear ring 305 is provided inside the limiting arm 300, meshing with the second gear 302. The internal gear ring 305 rotates synchronously and in sync with the gear. The device drives multiple gears 302 to rotate; the outer surface of the limiting arm 300 is provided with a guide hole 307, and the outer surface of the internal gear ring 305 is provided with a threaded rod 308. The threaded rod 308 slides inside the guide hole 307, and a nut 309 is threaded on the outer side of one end of the threaded rod 308 extending out of the limiting arm 300. By using the sliding of the threaded rod 308 inside the guide hole 307, the internal gear ring 305 can be controlled to rotate. By using the nut 309 and the threaded rod 308, the internal gear ring 305 can be limited to a specific position when it rotates to a specified angle.

[0056] Example 3 achieves the following: Loosen the nut 309 and rotate the threaded rod 308 along the guide hole 307. When the threaded rod 308 rotates, the internal gear ring 305 rotates in conjunction with it. Using the meshing transmission structure, the gear 302 rotates. Again, using the meshing transmission structure, the limiting seat 303 can move telescopically. When the guide wheel 306 is in contact with the surface of the drill rod, tighten the nut 309 on the threaded rod 308. At this time, the position of the limiting seat 303 can be limited. Multiple guide wheels 306 can prevent the drill rod from shaking when rotating, thereby ensuring the stability of the drill rod during operation. At the same time, the rotatable guide wheel 306 can play an auxiliary guiding role for the drill rod when rotating.

[0057] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts can be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine task in design, manufacturing, and production, requiring minimal experimentation. It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A clamping mechanism for an orthopedic surgical robot, characterized in that: It includes the arm body (100), the clamping arm (200) and the limiting arm (300). The arm body (100) is a supporting and rotating component for the clamping arm (200) and the limiting arm (300); The clamping arm (200) is located at the output end of the arm body (100). A rotating cavity (201) is provided inside the clamping arm (200). A rotating sleeve (202) is rotatably connected in the rotating cavity (201). When the square drive shaft along the inner edge of the rotating cavity (201) rotates, the rotating sleeve (202) can be linked to rotate synchronously. An installation cavity (203) is provided inside the rotating sleeve (202). The installation cavity (203) is square in shape. The rotating sleeve (202) has an overall cylindrical shape. A limiting plate (210) is provided inside the mounting cavity (203). A mounting groove (211) is provided on the inner edge of the mounting cavity (203). A telescopic member (212) is provided between the mounting groove (211) and the inner edge of the limiting plate (210). A storage groove (220) is provided on the inner edge of the mounting cavity (203). A baffle (221) is rotatably connected in the storage groove (220). The limiting arm (300) is located at the open end of the clamping arm (200). A telescopic chamber (301) is provided on the inner edge of the limiting arm (300). A limiting seat (303) is slidably connected in the telescopic chamber (301). A gear two (302) is also rotatably connected in the telescopic chamber (301). A guide wheel (306) is rotatably connected to one end of the limiting seat (303) that extends out of the telescopic chamber (301). A spring (213) is provided at the central hinge of the telescopic component (212), wherein the two sets of telescopic components (212) on the same limiting plate (210) are symmetrically distributed; The telescopic component (212) mainly includes a support rod (2121), a rotating seat (2122), and a shaft seat (2123). There are two sets of support rods (2121), and a rotating seat (2122) is provided at the joint of the two sets of support rods (2121). The shaft seat (2123) is connected through to the two rotating seats (2122), so that the two rotating seats (2122) can rotate relative to each other. The two ends of the spring (213) are respectively connected to the inner edges of the two support rods (2121). Both rotating seats (2122) have equal-angled limiting grooves (2124) inside. The shaft seat (2123) has a receiving cavity (2125) inside. A top block (2126) is slidably connected inside the receiving cavity (2125). The surface of the top block (2126) extending into the receiving cavity (2125) is negative. The shape of the end of the top block (2126) extending out of the receiving cavity (2125) is the same as that of the limiting groove (2124). Two control power supplies (2127) are provided in the middle of the shaft seat (2123). A negative electromagnet (2128) and a positive electromagnet (2129) are provided on the inner edge of the receiving cavity (2125). The two control power supplies (2127) are electrically connected to the negative electromagnet (2128) and the positive electromagnet (2129), respectively.

2. The clamping mechanism of the orthopedic surgical robot according to claim 1, characterized in that: The limiting plates (210) are arranged at equal angles about the axis of the rotating sleeve (202), and each limiting plate (210) is parallel to one surface of the mounting cavity (203) at its nearest position.

3. The clamping mechanism of the orthopedic surgical robot according to claim 1, characterized in that: One end of the limiting plate (210) is hinged to an inclined plate (214), and the end of the inclined plate (214) away from the limiting plate (210) is rotatably connected to a guide frame (216). A sliding groove (215) is provided on the inner edge of the mounting cavity (203), and the guide frame (216) slides inside the sliding groove (215).

4. The clamping mechanism of the orthopedic surgical robot according to claim 1, characterized in that: The storage slots (220) are arranged at equal angles about the axis of the rotating sleeve (202). Each of the four baffles (221) is provided with a gear (222) at its rotation axis. The outer sides of the four gears (222) mesh with an internal gear ring (223).

5. The clamping mechanism of the orthopedic surgical robot according to claim 1, characterized in that: The telescopic chamber (301) has six parts that are distributed at equal angles with respect to the axis of the limiting arm (300). The limiting seat (303) is provided with a rack (304) on the side near the gear two (302). The limiting seat (303) meshes with the gear two (302) through the rack (304).

6. The clamping mechanism of the orthopedic surgical robot according to claim 1, characterized in that: The limiting arm (300) is provided with an internal gear ring (305) inside, which meshes with a gear (302) for transmission.

7. The clamping mechanism of the orthopedic surgical robot according to claim 6, characterized in that: The outer surface of the limiting arm (300) is provided with a guide hole (307), and the outer surface of the internal tooth ring (305) is provided with a threaded rod (308). The threaded rod (308) slides inside the guide hole (307), and a nut (309) is threaded on the outer side of the end of the threaded rod (308) extending out of the limiting arm (300).

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