Cranial neurosurgery robot based on magnetic resonance compatibility

Abstract

The invention relates to the technical field of cranial neurosurgery, and discloses a cranial neurosurgery robot based on magnetic resonance compatibility, the cranial neurosurgery robot comprises a bed body, a control device and a connecting device, the control device is arranged on the outer side of the front end of the bed body, and antennas arranged left and right are installed in front of the control device; a connecting device is installed at the top of the control device, two electric telescopic rods which are transversely arranged and distributed in the left-right direction are installed in the connecting device, and the control device, the antenna, the robot arm body, the electric telescopic rods and the connecting device are arranged, so that nuclear magnetic resonance data can be received through a wireless network under the action of the antenna; nuclear magnetic resonance data of a patient is placed in the control device, a doctor can control the robot arm body to conduct cranial neurosurgery on the patient through the nuclear magnetic resonance data, meanwhile, the robot arm body can be pushed to move back and forth in the connecting device through the electric telescopic device, and the patient can be conveniently subjected to the surgery.

Description

Technical Field

[0001] The invention relates to the technical field of cranial neurosurgery, and in particular to a cranial neurosurgery robot based on magnetic resonance compatibility. Background Art

[0002] Neurosurgery is a branch of surgery. It uses unique neurosurgery research methods based on surgery as the main treatment method to study the human nervous system, such as the brain, spinal cord and peripheral nervous system, and its related ancillary structures such as the skull, scalp, cerebral blood vessels and meninges, as well as injuries, inflammation, tumors, malformations and certain genetic metabolic disorders or functional disorders.

[0003] Neurosurgery is usually performed manually by doctors based on the patient's lesions. However, due to the limited accuracy of human hand control, it is inconvenient to operate on the patient. Therefore, we propose a neurosurgery robot based on magnetic resonance imaging compatibility to solve the above problem. Summary of the invention

[0004] The purpose of the present invention is to provide a brain neurosurgery robot based on magnetic resonance compatibility to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a brain and nerve surgery robot based on magnetic resonance compatibility, comprising a bed, a control device and a connecting device, a control device is provided on the outer side of the front end of the bed, antennas arranged left and right are installed in front of the control device, a connecting device is installed on the top of the control device, two electric telescopic rods arranged laterally and distributed left and right are installed in the connecting device, and the rear end of the electric telescopic rod is fixedly connected to the robot arm body.

[0006] Preferably, the control device includes a control body, a limiting body, a fixing rod, a connecting block and a slide plate. The front of the control body is electrically connected to the antenna. Slide grooves are provided on both sides of the left and right sides of the control body. A slide plate is provided in the slide groove provided on the control body. A connecting block is fixedly connected to one side of the slide plate. A side of the connecting block away from the slide plate is fixedly connected to a vertically arranged fixing rod. Four fixing rods are arranged in a group on the left and right sides of the connecting body. A limiting body is provided on both sides of the left and right sides of the control body.

[0007] Preferably, the limiting body includes a first bolt, a nut, a moving block, a rotating rod, a splint and a friction plate. There are two nuts in total, and the two nuts are respectively fixed on the left and right sides of the top of the control body. The first bolt is connected to the inner thread of the nut, and the bottom end of the first bolt is rotatably connected to the moving block. The front and rear ends of the moving block are rotatably connected to the rotating rod, and the end of the rotating rod away from the moving block is rotatably connected to the splint, and the side of the splint away from the rotating rod is fixedly connected to the friction plate, and the side of the friction plate away from the splint is tightly fitted with the connecting block.

[0008] Preferably, four rotating rods are arranged in a group on the front and rear sides of the moving block, and the two rotating rods arranged on one side of the moving block are arranged on one side of the clamping plate.

[0009] Preferably, the left and right sides of the moving block are both fitted with the slide grooves provided in the control body, and the left and right sides of the clamping plates are both fitted with the slide grooves provided in the control body, and the clamping plates are grouped in two and are respectively arranged on the left and right sides of the moving block.

[0010] Preferably, the connecting device includes a fixed seat, a connecting body, a supporting body, a pillowcase, a sponge cover and a sponge block, two electric telescopic rods distributed on the left and right are fixedly connected in the fixed seat, the top of the fixed seat is slidably connected to the robot arm body, the left and right sides of the fixed seat are provided with longitudinally arranged slots, the top inner wall of the slot opened by the fixed seat is provided with three evenly distributed limit grooves with wavy tops, the bottom of the fixed seat is tightly fitted with the bed body, the connecting body is arranged in the slot opened by the fixed seat, the side of the connecting body away from the fixed seat is fixedly connected to the supporting body, the left and right sides of the top of the supporting body are fixedly connected with sponge blocks, a sponge cover is provided on the outside of the sponge block, a pillowcase is provided on the outside of the sponge cover, and the bottom of the pillowcase is fixedly connected to the supporting body.

[0011] Preferably, the connecting body includes an insert plate, a rubber block, a connecting plate and a positioning ball. The insert plate is provided at one end of the base with a rubber block, a connecting plate is provided on the top of the rubber block, and the connecting plate is fixedly connected to three laterally distributed positioning balls away from the top. The positioning balls are provided in limit grooves provided in the base, and evenly distributed deformation grooves are provided in the rubber block.

[0012] Preferably, the support body includes a support shell, a first piston, a support rod, a hydraulic pipe, a second piston, a connecting rod, a push plate and a second bolt. A hydraulic warehouse is provided at the central position of the support shell, and fixed warehouses are provided on the left and right sides of the support shell. A uniformly distributed hydraulic groove is provided on the top of the hydraulic layer in the support shell, and a first piston is provided in the hydraulic groove provided in the support shell. The top of the first piston is fixedly connected to the support rod, and a sponge sleeve is provided on the outside of the support rod. A uniformly distributed hydraulic pipe is fixedly connected to the inner wall of the fixed warehouse on the side away from the hydraulic warehouse, and one end of the hydraulic pipe is connected to the hydraulic groove provided in the support shell, and a second piston is provided in the hydraulic pipe. A connecting rod is fixedly connected to the side of the second piston away from the hydraulic groove provided in the support shell, and one end of the connecting rod passes through the inner wall of one side of the support shell and is fixedly connected to the push plate. A second bolt is provided through the center of the push plate, and the outer side of the second bolt is threadedly connected to the support shell.

[0013] Preferably, one end of the support rod away from the first piston is hemispherically arranged, and one end of the support rod with the hemispherical arrangement is tightly fitted with the sponge sleeve.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the control device, antenna, robot body, electric telescopic rod and connecting device, the MRI data can be received through the wireless network under the action of the antenna, and then the MRI data of the patient is placed in the control device. The doctor can control the robot body to perform neurosurgery on the patient through the MRI data. At the same time, the electric telescopic device can push the robot body to move back and forth in the connecting device, so as to facilitate the operation on the patient through the robot body; 2. Through the control body, the first bolt, the nut, the moving block, the rotating rod, the splint, the friction plate, the slide, the fixed rod, the connecting block and the slide plate, after the control body and the fixed seat are moved to the appropriate position on the bed, the fixed seat can move downward through the fixed rod under the action of gravity, and the fixed rod drives the connecting block and the slide plate to move until the bottom of the fixed seat fits with the bed. At this time, the first bolt is rotated, and the first bolt pushes the moving block to move downward under the action of the nut. The moving block pushes the splint to move through the rotating rod, and the splint clamps the connecting block through the friction plate and the control body to prevent the moving of the fixed rod, thereby preventing the control body and the fixed seat from moving, making the operation process of the robot arm body more stable; 3. Through the fixed seat, slot, limit slot, plug plate, rubber block, deformation slot, connecting plate and positioning ball, the plug plate can be directly moved, and the plug plate drives the connecting plate and the positioning ball to move. At this time, the positioning ball pushes the connecting plate to move under the action of the limit slot, and the connecting plate pushes the rubber block to deform under the action of the deformation slot opened by itself, so as to adjust the position of the support shell and facilitate the support of the patient's head; 4. By setting the support shell, hydraulic groove, first piston, support rod, hydraulic pipe, second piston, connecting rod, push plate, second bolt, pillowcase, sponge cover and sponge block, the first piston in the hydraulic groove opened by the support shell can be supported by the liquid in the hydraulic chamber opened by the support shell, and the position of the second piston in the hydraulic pipe can be changed by rotating the second bolt. At this time, part of the liquid can flow into the hydraulic pipe, and the support rod corresponding to the patient's head will push the first piston to move downward. At this time, the pressure at the position where the liquid contacts the surfaces of multiple first pistons is basically the same, so that the supporting force applied by the support rod to different positions of the patient's head through the sponge cover is basically the same, so that the supporting effect is better and more stable. At the same time, the sponge cover can make the supporting process of the support rod softer and the supporting effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure after the overall combination of the present invention; Figure 2 This is a schematic diagram of the installation structure of the robot body in the present invention; Figure 3 It is a structural schematic diagram of the control device in the present invention; Figure 4 It is a schematic diagram of the installation structure of the slide plate in the present invention; Figure 5 It is a schematic diagram of the installation structure of the limiting body in the present invention; Figure 6 It is a schematic diagram of the installation structure of the transfer plate of the present invention; Figure 7 It is a structural schematic diagram of the connecting device in the present invention; Figure 8 It is a schematic diagram of the installation structure of the connecting body in the present invention; Fig. 9 It is a structural schematic diagram of the position of the limit groove in the present invention; Fig.10 It is a schematic diagram of the installation structure of the positioning ball in the present invention; Fig.11 It is a structural schematic diagram of the supporting body in the present invention; Fig.12 It is a schematic diagram of the installation structure of the hydraulic pipe in the present invention; Fig.13 It is a schematic diagram of the installation structure of the first piston in the present invention; Fig.14 It is a schematic diagram of the installation structure of the second piston in the present invention.

[0016] In the figure: 1, bed; 2, control device; 21, control body; 22, limit body; 221, first bolt; 222, nut; 223, moving block; 224, rotating rod; 225, clamping plate; 226, friction plate; 23, slide; 24, fixing rod; 25, connecting block; 26, slide plate; 3, antenna; 4, robot body; 5, electric telescopic rod; 6, connecting device; 61, fixing seat; 62, slot; 63, limit slot ; 64, connecting body; 641, plug plate; 642, rubber block; 643, deformation groove; 644, connecting plate; 645, positioning ball; 65, supporting body; 651, supporting shell; 652, hydraulic groove; 653, first piston; 654, supporting rod; 655, hydraulic pipe; 656, second piston; 657, connecting rod; 658, push plate; 659, second bolt; 66, pillowcase; 67, sponge cover; 68, sponge block. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figures 1 to 14 In an embodiment of the present invention, a neurosurgery robot based on magnetic resonance compatibility includes a bed 1, a control device 2 and a connecting device 6. The control device 2 is provided on the outer side of the front end of the bed 1, and an antenna 3 arranged left and right is installed in front of the control device 2. The connecting device 6 is installed on the top of the control device 2. Two electric telescopic rods 5 arranged horizontally and distributed left and right are installed in the connecting device 6. The rear end of the electric telescopic rod 5 is fixedly connected to a robot body 4. Through this setting, magnetic resonance imaging data can be received through a wireless network under the action of the antenna 3, and then the patient's magnetic resonance imaging data is placed in the control device 2. The doctor can control the robot body 4 to perform neurosurgery on the patient through the magnetic resonance imaging data. At the same time, the electric telescopic device can push the robot body 4 to move back and forth in the connecting device 6, which is convenient for performing surgery on the patient.

[0019] As a further implementation scheme of the above invention: the control device 2 includes a control body 21, a limit body 22, a fixing rod 24, a connecting block 25 and a slide plate 26. The front of the control body 21 is electrically connected to the antenna 3. The control body 21 is provided with a slide groove 23 on both sides. The slide groove 23 provided in the control body 21 is provided with a slide plate 26. One side of the slide plate 26 is fixedly connected to the connecting block 25. The side of the connecting block 25 away from the slide plate 26 is fixedly connected to a vertically arranged fixing rod 24. Four fixing rods 24 are arranged on the left and right sides of the connecting body 64 in a group. The control body 21 is provided with a limit body 22 on both sides. The limiting body 22 includes a first bolt 221, a nut 222, a moving block 223, a rotating rod 224, a clamping plate 225 and a friction plate 226. There are two nuts 222, and the two nuts 222 are respectively fixed on the left and right sides of the top of the control body 21. The nut 222 is internally threaded with the first bolt 221, and the bottom end of the first bolt 221 is rotatably connected to the moving block 223. The front and rear ends of the moving block 223 are rotatably connected to the rotating rod 224. The end of the rotating rod 224 away from the moving block 223 is rotatably connected to the clamping plate 225, and the side of the clamping plate 225 away from the rotating rod 224 is fixedly connected to the friction plate 22 6. The side of the friction plate 226 away from the clamping plate 225 is tightly fitted with the connecting block 25. Four rotating rods 224 are arranged in a group on the front and rear sides of the moving block 223 respectively. The two rotating rods 224 arranged on one side of the moving block 223 are arranged on one side of the clamping plate 225. The left and right sides of the moving block 223 are fitted with the sliding groove 23 opened by the control body 21. The left and right sides of the clamping plate 225 are fitted with the sliding groove 23 opened by the control body 21. The clamping plates 225 are arranged in a group of two on the left and right sides of the moving block 223 respectively. Through this arrangement, after the control body 21 and the fixed seat 61 are moved to the appropriate position on the bed body 1, Under the action of gravity, the fixed seat 61 moves downward through the fixed rod 24, and the fixed rod 24 drives the connecting block 25 and the slide plate 26 to move until the bottom of the fixed seat 61 is in contact with the bed 1. At this time, the first bolt 221 is rotated, and the first bolt 221 pushes the moving block 223 to move downward under the action of the nut 222. The moving block 223 pushes the splint 225 to move through the rotating rod 224. The splint 225 clamps the connecting block 25 through the friction plate 226 and the control body 21 to prevent the fixed rod 24 from moving, thereby preventing the control body 21 and the fixed seat 61 from moving, making the surgical process of the robot arm body 4 more stable.

[0020] As a further implementation scheme of the above invention: the connecting device 6 includes a fixed seat 61, a connecting body 64, a supporting body 65, a pillowcase 66, a sponge cover 67 and a sponge block 68. Two electric telescopic rods 5 distributed on the left and right are fixedly connected in the fixed seat 61. The top of the fixed seat 61 is slidably connected to the robot arm body 4. The left and right sides of the fixed seat 61 are provided with longitudinally arranged slots 62. The top inner wall of the slot 62 opened by the fixed seat 61 is provided with three evenly distributed limit grooves 63 with wavy tops. The bottom of the fixed seat 61 is tightly fitted with the bed body 1. The connecting body 64 is arranged in the slot 62 opened by the fixed seat 61. The side of the connecting body 64 away from the fixed seat 61 is fixedly connected to the supporting body 65. The left and right sides of the top of the supporting body 65 are fixedly connected to sponge blocks 68. A sponge cover 67 is arranged on the outside of the sponge block 68. A pillowcase 66 is arranged on the outside of the sponge cover 67. The bottom of the pillowcase 66 The connecting body 64 is fixedly connected to the supporting body 65, and the connecting body 64 includes an insert plate 641, a rubber block 642, a connecting plate 644 and a positioning ball 645. The insert plate 641 is arranged at one end of the base and is provided with a rubber block 642. A connecting plate 644 is arranged on the top of the rubber block 642. The connecting plate 644 is fixedly connected with three laterally distributed positioning balls 645 away from the top. The positioning balls 645 are arranged in a limiting groove 63 provided in the base. The rubber block 642 is provided with evenly distributed deformation grooves 643. Through this arrangement, the insert plate 641 can be directly moved, and the insert plate 641 drives the connecting plate 644 and the positioning balls 645 to move. At this time, the positioning balls 645 push the connecting plate 644 to move under the action of the limiting groove 63, and the connecting plate 644 pushes the rubber block 642 to deform under the action of the deformation groove 643 provided in itself, so as to adjust the position of the supporting shell 651, so as to facilitate the support of the patient's head.

[0021] As a further implementation scheme of the above invention: the support body 65 includes a support shell 651, a first piston 653, a support rod 654, a hydraulic pipe 655, a second piston 656, a connecting rod 657, a push plate 658 and a second bolt 659. A hydraulic compartment is provided at the central position of the support shell 651, and fixed compartments are provided on both sides of the support shell 651. A hydraulic groove 652 is evenly distributed on the top of the hydraulic layer provided in the support shell 651. A first piston 653 is provided in the hydraulic groove 652 provided in the support shell 651. The first piston 653 A support rod 654 is fixedly connected to the top, and a sponge sleeve 67 is arranged on the outside of the support rod 654. A hydraulic pipe 655 is fixedly connected to the inner wall of the fixed compartment of the support shell 651 away from the hydraulic compartment and evenly distributed. One end of the hydraulic pipe 655 is connected to the hydraulic groove 652 of the support shell 651. A second piston 656 is arranged in the hydraulic pipe 655. A connecting rod 657 is fixedly connected to the side of the second piston 656 away from the hydraulic groove 652 of the support shell 651. One end of the connecting rod 657 away from the second piston 656 passes through the support shell 651. A push plate 658 is fixedly connected to the inner wall of one side, and a second bolt 659 is penetrated at the central position of the push plate 658. The outer side of the second bolt 659 is threadedly connected to the support shell 651. The end of the support rod 654 away from the first piston 653 is hemispherical, and one end of the hemispherical support rod 654 is tightly fitted with the sponge sleeve 67. Through this arrangement, the first piston 653 in the hydraulic groove 652 opened in the support shell 651 can be supported by the liquid in the hydraulic chamber opened in the support shell 651. By rotating the second bolt 659, the Change the position of the second piston 656 in the hydraulic pipe 655. At this time, part of the liquid can flow into the hydraulic pipe 655, and the support rod 654 corresponding to the patient's head will push the first piston 653 to move downward. At this time, the pressure at the position where the liquid contacts the surfaces of multiple first pistons 653 is basically the same, so that the supporting force applied by the support rod 654 to different positions of the patient's head through the sponge cover 67 is basically the same, so that the supporting effect is better and more stable. At the same time, the sponge cover 67 can make the supporting process of the support rod 654 softer, so that the supporting effect is better.

[0022] During specific implementation, when the neurosurgery robot is in use, the control body 21 is first placed at a suitable position at the bottom of the bed 1. At this time, the fixing seat 61 is loosened, and the fixing seat 61 moves downward under the action of gravity until the bottom of the fixing seat 61 is placed on the bed 1. Then the first bolt 221 is rotated, and the first bolt 221 rotates in the nut 222, so that the first bolt 221 pushes the moving block 223 to move downward. During the downward movement of the moving block 223, the rotating rod 224 is pushed downward. At this time, the rotating rod 224 rotates under the action of the splint 225, and at the same time, the rotating rod 224 pushes the splint 225 to approach the connecting block 25 until the friction plate 226 provided on the splint 225 contacts the connecting block 25. The wiper plate 226 clamps the connection block 25 to prevent the connection block 25 from moving up and down, thereby positioning the slide plate 26 and the fixing rod 24. At this time, the base can be prevented from moving, and then the power can be turned on. At the same time, the control body 21 is controlled by the external controller to connect with the signal of the nuclear magnetic resonance through the antenna 3 to receive the detection data of the nuclear magnetic resonance. After that, the patient who needs to undergo brain surgery lies on the bed 1, and then the support shell 651 is pulled, and the support shell 651 drives the plug plate 641 to move, and the plug plate 641 drives the rubber block 642, the connecting plate 644 and the positioning ball 645 to move. The top of the positioning ball 645 fits with the wavy top inner wall of the limiting groove 63 provided in the fixing seat 61, and the positioning ball 64 is pushed under the action of the limiting groove 63 provided in the fixing seat 61. 5 moves toward the rubber block 642. At this time, the positioning ball 645 pushes the rubber block 642 through the connecting plate 644. The rubber block 642 is deformed under the action of the deformation groove 643 provided by itself. When the positioning ball 645 is inserted into the concave part of the wave-shaped top of the limiting groove 63 provided by the fixing seat 61, the plug plate 641 can be positioned to prevent the plug plate 641 from moving. At this time, the patient can place his head on the pillowcase 66. At this time, the patient's head is supported by the support rod 654. At the same time, the patient's head can be cushioned under the action of the sponge cover 67, so that the patient's head can be placed more comfortably. At this time, the second bolt 659 can be rotated. The second bolt 659 moves under the action of the fixing seat 61. At this time, the patient's head pushes the corresponding head under the action of gravity. The support rod 654 moves downward, and at this time, the support rod 654 pushes the hydraulic groove 652 and the liquid in the hydraulic chamber provided in the support shell 651 downward through the first piston 653. At this time, the liquid pushes the second piston 656 to move, and the second piston 656 pushes the connecting rod 657 to move, and the connecting rod 657 pushes the push plate 658 to move. At the same time, the push plate 658 is limited by the second bolt 659. After the patient's head is adjusted to a suitable position, the first piston 653 is supported by the liquid. At this time, the force of the liquid on the first piston 653 is relatively uniform, which can better support the patient's head. After that, the controller can control the robot arm body 4 to perform brain neurosurgery, and the control body 21 can display the nuclear magnetic resonance data through the display screen.It is convenient for doctors to adjust the program of the robot body 4 according to the data of nuclear magnetic resonance, improve the efficiency and success rate of the operation, and finally implant the electrode into the client's brain. After the operation is completed, the second bolt 659 is rotated in the opposite direction, and the second bolt 659 pushes the push plate 658 to move. The push plate 658 pushes the liquid to flow in the piston tube through the push rod and the second piston 656. The liquid pushes the support rod 654 to move through the first piston 653 until the support rod 654 is reset, and the patient's head is propped up at this time.

[0023] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A brain neurosurgery robot based on magnetic resonance compatibility, comprising a bed (1), a control device (2) and a connecting device (6), characterized in that: A control device (2) is provided on the outside of the front end of the bed body (1); antennas (3) arranged in a left-right manner are installed in front of the control device (2); a connecting device (6) is installed on the top of the control device (2); two electric telescopic rods (5) arranged in a transverse manner and distributed in a left-right manner are installed in the connecting device (6); and a robot arm body (4) is fixedly connected to the rear end of the electric telescopic rod (5).

2. The magnetic resonance compatible cranial neurosurgery robot according to claim 1, characterized in that: The control device (2) comprises a control body (21), a limiting body (22), a fixing rod (24), a connecting block (25) and a sliding plate (26); the front of the control body (21) is electrically connected to the antenna (3); a sliding groove (23) is provided on both the left and right sides of the control body (21); a sliding plate (26) is provided in the sliding groove (23) provided in the control body (21); one side of the sliding plate (26) is fixedly connected to the connecting block (25); a side of the connecting block (25) away from the sliding plate (26) is fixedly connected to a vertically arranged fixing rod (24); four fixing rods (24) are arranged in a group on the left and right sides of the connecting body (64); and a limiting body (22) is provided in the left and right sides of the control body (21).

3. The magnetic resonance compatible cranial nerve surgery robot according to claim 2, characterized in that: The limiting body (22) comprises a first bolt (221), a nut (222), a moving block (223), a rotating rod (224), a clamping plate (225) and a friction plate (226). There are two nuts (222) in total, and the two nuts (222) are respectively fixed on the left and right sides of the top of the control body (21). The nut (222) is internally threadedly connected to the first bolt (221). The bottom end of the first bolt (221) is rotatably connected to the moving block (223). The front and rear ends of the moving block (223) are both rotatably connected to the rotating rod (224). One end of the rotating rod (224) away from the moving block (223) is rotatably connected to the clamping plate (225). The side of the clamping plate (225) away from the rotating rod (224) is fixedly connected to the friction plate (226). The side of the friction plate (226) away from the clamping plate (225) is tightly fitted to the connecting block (25).

4. The MRI-compatible cranial neurosurgery robot according to claim 3, characterized in that: The rotating rods (224) are arranged in groups of four on the front and rear sides of the moving block (223), and the two rotating rods (224) arranged on one side of the moving block (223) are arranged on one side of the clamping plate (225).

5. The magnetic resonance compatible cranial nerve surgery robot according to claim 3, characterized in that: The left and right sides of the moving block (223) are both in contact with the slide grooves (23) provided on the control body (21), and the left and right sides of the clamping plates (225) are both in contact with the slide grooves (23) provided on the control body (21). The clamping plates (225) are arranged in groups of two on the left and right sides of the moving block (223).

6. The MRI-compatible cranial neurosurgery robot according to claim 2, characterized in that: The connecting device (6) comprises a fixing seat (61), a connecting body (64), a supporting body (65), a pillowcase (66), a sponge cover (67) and a sponge block (68); two electric telescopic rods (5) are fixedly connected to the fixing seat (61) and are distributed on the left and right; a robot arm body (4) is slidably connected to the top of the fixing seat (61); longitudinal slots (62) are provided on both the left and right sides of the fixing seat (61); and three evenly distributed limit slots (62) are provided on the top inner wall of the slots (62) provided on the fixing seat (61) and are arranged in a wavy shape. The fixing seat (61) is provided with a slot (63), the bottom of the fixing seat (61) is tightly fitted with the bed body (1), a connecting body (64) is arranged in the slot (62) provided in the fixing seat (61), a supporting body (65) is fixedly connected to the side of the connecting body (64) away from the fixing seat (61), a sponge block (68) is fixedly connected to the left and right sides of the top of the supporting body (65), a sponge cover (67) is arranged on the outside of the sponge block (68), a pillow cover (66) is arranged on the outside of the sponge cover (67), and the bottom of the pillow cover (66) is fixedly connected to the supporting body (65).

7. The MRI-compatible cranial neurosurgery robot according to claim 6, characterized in that: The connecting body (64) comprises an insert plate (641), a rubber block (642), a connecting plate (644) and a positioning ball (645); the insert plate (641) is arranged at one end in the base and has a rubber block (642); a connecting plate (644) is arranged at the top of the rubber block (642); three positioning balls (645) distributed laterally are fixedly connected to the connecting plate (644) away from the top; the positioning balls (645) are arranged in limiting grooves (63) provided in the base; and uniformly distributed deformation grooves (643) are provided in the rubber block (642).

8. The MRI-compatible cranial neurosurgery robot according to claim 6, characterized in that: The support body (65) comprises a support shell (651), a first piston (653), a support rod (654), a hydraulic pipe (655), a second piston (656), a connecting rod (657), a push plate (658) and a second bolt (659). A hydraulic compartment is provided at a central position in the support shell (651), and fixed compartments are provided on both left and right sides of the support shell (651). A hydraulic groove (652) which is evenly distributed is provided on the top of the hydraulic layer provided in the support shell (651), and a first piston (653) is provided in the hydraulic groove (652) provided in the support shell (651). A support rod (654) is fixedly connected to the top of the first piston (653), and a sponge sleeve (67) is provided on the outer side of the support rod (654). The support shell (651) is provided with a plurality of hydraulic troughs (652) which are evenly distributed. The inner wall of the fixed compartment on the side away from the hydraulic compartment is fixedly connected with uniformly distributed hydraulic pipes (655), one end of the hydraulic pipe (655) is connected with the hydraulic groove (652) provided in the support shell (651), a second piston (656) is arranged in the hydraulic pipe (655), a connecting rod (657) is fixedly connected to the side of the second piston (656) away from the hydraulic groove (652) provided in the support shell (651), one end of the connecting rod (657) away from the second piston (656) passes through the inner wall of one side of the support shell (651) and is fixedly connected to a push plate (658), a second bolt (659) is penetrated at the central position of the push plate (658), and the outer side of the second bolt (659) is threadedly connected to the support shell (651).

9. The MRI-compatible cranial neurosurgery robot according to claim 8, characterized in that: One end of the support rod (654) away from the first piston (653) is arranged in a hemispherical shape, and one end of the support rod (654) arranged in the hemispherical shape is tightly fitted with the sponge sleeve (67).

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