Multi-degree-of-freedom osteotomy mechanism and osteotomy robot

Abstract

The invention relates to the technical field of medical instruments, and provides a multi-degree-of-freedom osteotomy mechanism and an osteotomy robotic.The multi-degree-of-freedom osteotomy mechanism comprises a turnover mechanism, a mechanical arm, a disinfection box and a disinfection device.The movable end of the turnover mechanism is connected with the mechanical arm; the disinfection box comprises a box body fixed relative to the turnover mechanism and a box cover capable of being opened and closed relative to the box body; the disinfection device is arranged in the box body, and the disinfection device is a gas disinfection device or an ultraviolet disinfection device; the turnover mechanism and the disinfection box are connected with the operating table; when the mechanical arm is located at the storage position, the mechanical arm is located in the box cover. According to the laser osteotomy device, the disinfection box is arranged, and the overturning mechanism is arranged for mounting the manipulator, so that the manipulator can be overturned to an osteotomy position during laser osteotomy, and can be overturned into the disinfection box after osteotomy is completed, and disinfection is performed through the disinfection device, so that the disinfection convenience of the manipulator is effectively improved; meanwhile, the turnover mechanism and the disinfection box are connected with the operating table, so that high integration of the structure is achieved, and occupied space is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a multi-degree-of-freedom osteotomy mechanism and an osteotomy robot. Background Art

[0002] Laser osteotomy is a method of orthopedic surgery using laser. As a new type of non-contact surgical method, it can effectively avoid problems such as mechanical damage and thermal damage that are prone to occur during traditional oscillating saw surgery. At the same time, it effectively increases the surgical field and can perform cutting work on complex trajectories, which is conducive to performing delicate and complex osteotomy operations and shortening the patient's recovery time.

[0003] The invention patent application with the existing authorization announcement number CN113509269B discloses a laser osteotomy-assisted total hip replacement surgical robot, which relates to the field of medical device technology, including a control computer main body, a base is installed at the top front end of the main body, the top of the base is connected to the robot main body, a connecting line is arranged on the left side of the control computer main body, a support is arranged in front of the control computer main body, an operating table is fixed on the top of the support, the other end of the connecting line is connected to an auxiliary device, a laser cutting end effector is installed at the front end of the robot main body, the laser cutting end effector is used to cut at a preset position according to a preset cutting amount, the right side of the laser cutting end effector is connected to an auxiliary water spray and air blowing device, and the auxiliary water spray and air blowing device is used to spray water and blow air to the acetabulum.

[0004] As in the above technical solution, a surgical robot for laser osteotomy is disclosed, in which the robot body is installed on a computer body through a base. Therefore, when performing surgery, the robot needs to be moved to the front of the operating table before use; at the same time, the position of the robot needs to be reasonably arranged to facilitate the robot to unify the surgical space coordinates.

[0005] A surgical robot of this structure takes up a lot of space. Secondly, the robot has an open structure and no protective exterior. Since the robot has many joints and a complex structure, it is not convenient to disinfect and blind spots may easily appear during disinfection. Therefore, there is a need to improve existing surgical robots. Summary of the invention

[0006] In view of this, the present invention proposes a multi-degree-of-freedom osteotomy mechanism and an osteotomy robot that occupy a small space and are easy to disinfect, so as to solve the problem that the existing osteotomy robots occupy a large space and are difficult to disinfect.

[0007] The technical solution of the present invention is achieved in this way:

[0008] On the one hand, the present invention provides a multi-degree-of-freedom osteotomy mechanism, including a flipping mechanism, a manipulator, a disinfection box and a disinfection device, wherein:

[0009] The movable end of the flipping mechanism is connected to the manipulator, and the flipping mechanism is used to drive the manipulator to flip 180 degrees so that the manipulator is in the osteotomy position or the storage position;

[0010] The disinfection box comprises a box body fixed relatively to the turning mechanism, and a box cover which can be opened and closed relatively to the box body;

[0011] The disinfection device is arranged in the box, and the disinfection device is a gas disinfection device or an ultraviolet disinfection device;

[0012] The turning mechanism and the sterilization box are connected to the operating table;

[0013] When the robot is in the storage position, the robot is located inside the box cover.

[0014] On the basis of the above technical solution, preferably, the flipping mechanism includes a linear module, a dual-axis motor and a connecting arm, wherein:

[0015] The linear module and the disinfection box are relatively fixed;

[0016] The dual-axis motor is arranged on the movable end of the linear module, and the output end of the dual-axis motor is connected to two connecting arms;

[0017] A manipulator is disposed on each of the two connecting arms, wherein a laser cutting head is disposed at the movable end of one of the manipulators, and a fill light is disposed at the movable end of the other manipulator;

[0018] There are two corresponding manipulators for the disinfection boxes.

[0019] On the basis of the above technical solution, preferably, the disinfection device includes an end plate, an ultraviolet lamp, a quartz spiral tube, a tube sleeve and an axial flow fan, wherein:

[0020] There are two end plates arranged opposite to each other;

[0021] Both ends of the ultraviolet lamp are connected to an end plate respectively;

[0022] Both ends of the quartz spiral tube are connected to an end plate respectively, and a plurality of quartz spiral tubes are arranged around the ultraviolet lamp, and the quartz spiral tubes are connected to the space in the relatively far direction between the two end plates;

[0023] The tube sleeve is arranged on two end plates to seal the ultraviolet lamp and the quartz spiral tube. The tube sleeve is provided with windows corresponding to two adjacent quartz spiral tubes, and quartz glass is arranged in the windows.

[0024] The axial flow fan is arranged in one end of the pipe sleeve.

[0025] On the basis of the above technical solution, preferably, it further includes a retaining frame, and the disinfection device further includes a flow guide cover, wherein,

[0026] The air guide cover is arranged on one end of the pipe sleeve away from the axial flow fan, the air guide cover is made of plastic material, and a plurality of slots are opened on the air guide cover;

[0027] The retaining frame is arranged in the box body, and two disinfection devices are arranged on the retaining frame, and the ends of the axial flow fan are arranged relatively far away from each other in the two disinfection devices;

[0028] The grooves of the two air guide covers are staggered in the circumferential direction of the pipe sleeve.

[0029] On the basis of the above technical solution, preferably, it also includes a water supply component, which includes a carrier, a table, a water tank, a sealing ring and a screw rod, wherein:

[0030] The carrier is connected to two connecting arms;

[0031] The table is arranged on the carrier, and a through hole is opened on the table;

[0032] The water tank is arranged on the carrier, and the top surface of the water tank is open;

[0033] The sealing ring is arranged on the bottom surface of the table and corresponds to the opening edge of the top surface of the water tank;

[0034] The screw rod is connected to the carrier through threads, and one end of the screw rod abuts against the bottom surface of the water tank;

[0035] When the manipulator is in the storage position, the water supply assembly is located between the two disinfection devices.

[0036] On the basis of the above technical solution, preferably, the carrier includes a connecting plate and a supporting plate, and a positioning plate is provided at the end of the water tank, wherein:

[0037] The connecting plate is connected to the two connecting arms;

[0038] Two supporting plates are arranged parallel to each other on the connecting plate;

[0039] The tabletop is arranged on the support plate;

[0040] The positioning plate is in sliding cooperation with the two supporting plates.

[0041] On the basis of the above technical solution, preferably, it also includes a three-head bracket and a support member, the support member includes a positioning frame, a swing arm and a support, wherein,

[0042] One end of the three-head bracket is connected to the connecting arm, one end is connected to the manipulator, and the other end is a free end;

[0043] The positioning frame and the turning mechanism are relatively fixed;

[0044] One end of the swing arm is rotatably connected to the positioning frame, and the support is arranged on the other end of the swing arm;

[0045] The swing arm is used to drive the pillar to move between the supporting position and the storage position;

[0046] When the support column is in the storage position, the end of the support column is located between the two disinfection boxes;

[0047] When the support column is in the supporting position, the top end of the support column is connected to the free end of the three-head bracket.

[0048] On the other hand, the present invention provides another osteotomy robot, comprising the above-mentioned multi-degree-of-freedom osteotomy mechanism, and also comprising a lifting platform and a bed board, wherein:

[0049] The bed board is arranged on a lifting platform;

[0050] The turning mechanism and the disinfection box are arranged on the bottom surface of the bed board;

[0051] When the manipulator is in the storage position, the water supply assembly is located between the flip mechanism, the lifting platform and the two disinfection boxes;

[0052] When the support column is in the storage position, the end of the support column is located between the two disinfection boxes, the water supply component and the lifting platform.

[0053] On the basis of the above technical solutions, preferably, the shell, box, positioning frame, lifting platform and bed board of the linear module are arranged as an integrated structure.

[0054] In another aspect, the present invention provides an osteotomy robot, comprising the above-mentioned multi-degree-of-freedom osteotomy mechanism, including a lifting platform and a bed board, wherein:

[0055] The bed board is arranged on a lifting platform;

[0056] The turning mechanism and the disinfection box are arranged on the bottom surface of the bed board.

[0057] The multi-degree-of-freedom osteotomy mechanism and osteotomy machine of the present invention have the following beneficial effects compared with the prior art:

[0058] (1) By setting up a disinfection box and a flipping mechanism for installing the manipulator, the manipulator can be flipped to the osteotomy position during laser osteotomy, and after the osteotomy is completed, it can be flipped into the disinfection box and disinfected by ultraviolet or gas disinfection devices, which effectively improves the convenience of manipulator disinfection; at the same time, the flipping mechanism and the disinfection box are connected to the operating table, which realizes a high degree of structural integration and reduces the space occupied by the equipment; since the starting position of the manipulator is fixed, it is also conducive to the unification of surgical coordinates;

[0059] (2) The pipe sleeve in the disinfection device is spatially separated by an end plate, and the ultraviolet lamp and the quartz spiral tube are arranged between two partitions, and the quartz spiral tube passes through the partition. In this way, when disinfecting, the airflow in the disinfection box can be caused to circulate through the quartz spiral tube by the suction of the axial flow fan, and the ultraviolet lamp will disinfect the bacteria carried by the airflow; in this structure, the gas circulation method is adopted for disinfection, so the dead corner area can be eliminated, and the quartz spiral tube can extend the gas stroke to ensure the disinfection effect;

[0060] (3) In the present osteotomy mechanism, the disinfection device is fixed by a retaining frame, on which two disinfection devices are arranged, and a flow guide cover is arranged in the disinfection device. Such a structure makes the structure of the disinfection device more compact and reduces the space occupied; and the effect of the flow guide cover is small, which can significantly reduce the airflow interference when the two disinfection devices are running, so as to fully ensure the airflow circulation and thus ensure the disinfection effect; at the same time, the flow guide cover is made of plastic material and is provided with a groove, so that the local direction of the flow guide cover can be adjusted, thereby improving the gas circulation to ensure disinfection;

[0061] (4) In the present osteotomy mechanism, the flip mechanism is provided with two connecting arms, so that the laser cutting head and the fill light can be installed through two manipulators, thereby performing laser osteotomy and improving the convenience of observation; at the same time, the water supply component is connected to the two connecting arms, so that when the flip mechanism drives the manipulator to move, the water supply component will move synchronously to switch between the storage position and the osteotomy position, so that the water supply during the operation can be guaranteed without occupying space;

[0062] (5) By connecting the connecting arm and the manipulator through a three-head bracket, the three-head bracket will have a free end. When the manipulator is repaired, it is convenient to connect the free end of the three-head bracket through a mobile carrier. The three-head bracket and the connecting arm can be disassembled later, which improves the convenience of maintenance;

[0063] (6) In the present osteotomy robot, by configuring the shell, box, positioning frame, lifting platform and bed board of the linear module into an integrated structure, the relative fixation of each component can be ensured, so as to ensure that when the flipping mechanism is in action, the movement position of each component is accurate to prevent interference, thereby ensuring a good storage effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1A three-dimensional diagram of the multi-degree-of-freedom osteotomy mechanism of the present invention;

[0066] Figure 2 A three-dimensional diagram of the manipulator removal structure of the multi-degree-of-freedom osteotomy mechanism of the present invention;

[0067] Figure 3 A three-dimensional diagram of a support member of the multi-degree-of-freedom osteotomy mechanism of the present invention;

[0068] Figure 4 A three-dimensional diagram of the osteotomy robot of the present invention;

[0069] Figure 5 A three-dimensional diagram of the bottom structure of the osteotomy robot of the present invention;

[0070] Figure 6 is a side view of the osteotomy robot of the present invention;

[0071] Figure 7 A three-dimensional diagram showing the structure of the manipulator of the osteotomy robot of the present invention;

[0072] Figure 8 A bottom perspective view of the manipulator removal structure of the osteotomy robot of the present invention;

[0073] Fig. 9 A three-dimensional diagram of the application state of the osteotomy robot of the present invention;

[0074] Fig.10 A bottom structural stereogram of the osteotomy robot of the present invention in an application state;

[0075] Fig.11 For the present invention Fig.10 A magnified view of the structure at point A;

[0076] Fig.12 A side view of the osteotomy robot of the present invention in application state;

[0077] Fig.13 A stereoscopic diagram of a disinfection device and a retainer of a multi-degree-of-freedom osteotomy mechanism of the present invention;

[0078] Fig.14 It is an exploded structural diagram of the disinfection device of the multi-degree-of-freedom osteotomy mechanism of the present invention;

[0079] Fig.15 It is an exploded structural diagram of the water supply component of the multi-degree-of-freedom osteotomy mechanism of the present invention;

[0080] Fig.16 It is a bottom view of the exploded structure of the water supply component of the multi-degree-of-freedom osteotomy mechanism of the present invention;

[0081] In the figure: 1. flip mechanism; 11. linear module; 12. dual-axis motor; 13. connecting arm; 101. semicircular groove; 2. manipulator; 3. disinfection box; 31. box body; 32. box cover; 4. disinfection device; 41. end plate; 42. ultraviolet lamp; 43. quartz spiral tube; 44. pipe sleeve; 45. axial fan; 46. air guide cover; 401. window; 402. cutting groove; 5. retaining frame; 6. water supply assembly; 61. carrier; 611. connecting plate; 612. support plate; 62. table; 63. water tank; 631. positioning plate; 64. sealing ring; 65. screw rod; 601. through hole; 7. three-head bracket; 8. support member; 81. positioning frame; 82. swing arm; 83. pillar; 9. lifting platform; 10. bed board. DETAILED DESCRIPTION

[0082] The following will be combined with 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.

[0083] like Figures 1 to 16 As shown, the multi-degree-of-freedom osteotomy mechanism of the present invention comprises a turning mechanism 1, a manipulator 2, a disinfection box 3, a disinfection device 4, a retaining frame 5, a water supply assembly 6, a three-head bracket 7 and a support member 8;

[0084] The osteotomy robot of the present invention comprises the above-mentioned multi-degree-of-freedom osteotomy mechanism, and also comprises a lifting platform 9 and a bed board 10 .

[0085] like Figures 1 to 4 As shown, the movable end of the flipping mechanism 1 is connected to the manipulator 2, and the flipping mechanism 1 is used to drive the manipulator 2 to flip 180 degrees so that the manipulator 2 is in the osteotomy position or the storage position; the disinfection box 3 includes a box body 31 relatively fixed to the flipping mechanism 1, and a box cover 32 that can be opened and closed relative to the box body 31; the disinfection device 4 is arranged in the box body 31; when the manipulator 2 is in the storage position, the manipulator 2 is located in the box cover 32.

[0086] As in the above structure, the flipping mechanism 1 is used to drive the manipulator 2 to flip and move, so as to drive the manipulator 2 to move between the osteotomy position and the storage position;

[0087] Specifically, the turning range of the turning mechanism 1 is 180 degrees, that is, one side of the turning mechanism 1 is the storage position, and the other side is the osteotomy position;

[0088] The manipulator 2 is used to perform osteotomy operations. When used, a laser cutting head is installed at the end of the manipulator 2 to cut bones.

[0089] After the osteotomy operation is completed, the manipulator 2 and the laser cutting head at its end are cleaned, and then the manipulator 2 is moved to the storage position by the flipping mechanism 1;

[0090] Specifically, when the flip mechanism 1 is in operation, the box cover 32 is in an open state so that the manipulator 2 can move. When the manipulator 2 moves to the storage position, the box cover 32 and the box body 31 are closed to seal the manipulator 2.

[0091] Specifically, the box body 31 and the box cover 32 both have a certain volume, which are respectively arranged corresponding to the disinfection device 4 and the manipulator 2. After the box body 31 and the box cover 32 are closed, the disinfection device 4 and the manipulator 2 are both located in the disinfection box 3 and correspond to the space of the box body 31 and the box cover 32.

[0092] like Fig.11 As shown, a semicircular groove 101 is provided on the box body 31 and the box cover 32 of the disinfection box 3, so that the connecting piece between the manipulator 2 and the turning mechanism 1 can pass through, thereby avoiding interference in closing the box cover 32;

[0093] Specifically, a sealing ring is provided between the box body 31 and the box cover 32 to ensure the sealing of the disinfection box 3 .

[0094] Specifically, the box body 31 and the box cover 32 are connected by hinges and buckles, so that the box cover 32 can be opened and closed;

[0095] In some embodiments, an automated displacement mechanism such as an electric push rod or a cylinder may also be used to achieve automatic opening of the box cover 32 .

[0096] As described above, after the turning mechanism 1 drives the manipulator 2 to enter the box 31, the manipulator 2 can be disinfected by the disinfection device 4;

[0097] Specifically, the disinfection device 4 uses a gas disinfection device or an ultraviolet disinfection device to achieve the sterilization of the manipulator 2;

[0098] At the same time, the flipping mechanism 1 and the disinfection box 3 are connected to the operating table; in this way, the osteotomy mechanism is integrated with the operating table, which can reduce the floor space and form an integrated osteotomy platform with a compact overall structure and the advantage of convenient disinfection.

[0099] like Figure 1 and Figure 5As shown, the flip mechanism 1 includes a linear module 11, a dual-axis motor 12 and a connecting arm 13, wherein the linear module 11 is relatively fixed to the disinfection box 3; the dual-axis motor 12 is arranged on the movable end of the linear module 11, and the output end of the dual-axis motor 12 is connected to two connecting arms 13; a manipulator 2 is arranged on each of the two connecting arms 13, wherein the movable end of one manipulator 2 is provided with a laser cutting head, and the movable end of the other manipulator 2 is provided with a fill light; the disinfection box 3 is provided with two corresponding manipulators 2;

[0100] As in the above structure, the dual-axis motor 12 is used to drive the connecting arm 13 to swing 180 degrees, and the manipulator 2 is installed on the connecting arm 13 to move synchronously to achieve switching between the storage position and the osteotomy position;

[0101] During surgery, a fill light is usually used for observation; therefore, a dual-axis motor 12 is used, and two connecting arms 13 are provided on the two output shafts to install two manipulators 2, one of which is provided with a laser cutting head, and the other is provided with a fill light; for the convenience of disinfection, two disinfection boxes 3 are provided accordingly;

[0102] In this structure, the linear module 11 can use a screw guide rail to drive the manipulator 2 to move along the edge of the operating table, so as to be suitable for osteotomy operations on different patients and different parts of the body.

[0103] In some embodiments, the fill light may not be installed on the connecting arm 13, but a metal shaped hose such as a gooseneck tube may be installed on the connecting arm 13 for the installation of the fill light; in this embodiment, after the application, the posture of the metal shaped hose should be adjusted so that it can be smoothly stored in the disinfection box 3 to avoid movement interference during the storage process.

[0104] In some embodiments, the end of the manipulator 2 is not equipped with a fill light, but with a water spray mechanism for flushing the patient's wound;

[0105] In some embodiments, the water spray mechanism and the laser cutting head are integrated on the same robot 2 .

[0106] Specifically, the connecting arm 13 is a connecting piece between the manipulator 2 and the flipping mechanism 1 , and when storing, the connecting arm 13 passes through the semicircular groove 101 .

[0107] like Figure 8 and Fig.14As shown, the disinfection device 4 includes an end plate 41, an ultraviolet lamp 42, a quartz spiral tube 43, a tube sleeve 44 and an axial flow fan 45, wherein two end plates 41 are arranged opposite to each other; the two ends of the ultraviolet lamp 42 are respectively connected to one end plate 41; the two ends of the quartz spiral tube 43 are respectively connected to one end plate 41, and a plurality of quartz spiral tubes 43 are arranged around the ultraviolet lamp 42, and the quartz spiral tube 43 and the two end plates 41 are relatively far from each other. The tube sleeve 44 is sleeved on the two end plates 41 to seal the ultraviolet lamp 42 and the quartz spiral tube 43, and the tube sleeve 44 is provided with a window 401 corresponding to the two adjacent quartz spiral tubes 43, and quartz glass is arranged in the window 401; the axial flow fan 45 is arranged in one end of the tube sleeve 44;

[0108] As described above, in this embodiment, the disinfection device 4 uses ultraviolet disinfection;

[0109] The end plate 41 is located in the tube sleeve 44, dividing the internal space of the tube sleeve 44 into three parts. The ultraviolet lamp 42 and the quartz spiral tube 43 are located in the middle of the tube sleeve 44, that is, between the two end plates 41. At the same time, the quartz spiral tube 43 passes through the two end plates 41 to communicate with the outside world.

[0110] The axial flow fan 45 is arranged in a space at one end of the tube sleeve 44, so that when the axial flow fan 45 is working, the airflow will enter the quartz spiral tube 43 from the other end of the tube sleeve 44 to pass between the two end plates 41; at the same time, the ultraviolet lamp 42 is working to sterilize the airflow by ultraviolet rays;

[0111] Since the quartz spiral tube 43 is a spiral hollow tube, the gas travel can be extended to ensure a good disinfection effect;

[0112] In this structure, the axial flow fan 45 can be relied upon to realize gas circulation in the disinfection box 3 to avoid the problem of insufficient disinfection due to obstruction by the manipulator 2, thereby eliminating sterilization dead corners and ensuring a good sterilization effect.

[0113] At the same time, a window 401 is provided on the tube sleeve 44, and the window 401 corresponds to the gap between two adjacent quartz spiral tubes 43, so that ultraviolet rays can also pass through the window 401 for sterilization;

[0114] Specifically, the window 401 and the spiral tube are both made of quartz glass, which has good UV light transmittance to ensure the sterilization effect.

[0115] In some embodiments, an inflation method may be used simultaneously for sterilization so that the sterilization medium directly contacts the manipulator 2 to achieve a good sterilization effect.

[0116] like Fig.13 and Fig.14As shown, the disinfection device 4 further includes a guide cover 46, wherein the guide cover 46 is arranged on one end of the pipe sleeve 44 away from the axial flow fan 45, the guide cover 46 is made of plastic material, and a plurality of slots 402 are opened on the guide cover 46;

[0117] As in the above structure, in order to further ensure the gas circulation effect, a guide cover 46 is provided in the disinfection device 4. The guide cover 46 is divided into a plurality of fan-shaped parts by the groove 402, and because the guide cover 46 is made of plastic material, the single fan-shaped part of the guide cover 46 can be moved to adjust the direction; in this way, when the axial flow fan 45 drives the airflow to blow onto the guide cover 46, it will be guided by the guide cover 46, thereby ensuring good gas circulation and reducing the influence of the manipulator 2 on the gas circulation.

[0118] like Fig.13 and Fig.14 As shown, the retainer 5 is arranged in the box body 31, and two disinfection devices 4 are arranged on the retainer 5, and the ends of the axial flow fans 45 of the two disinfection devices 4 are relatively far away; the grooves 402 of the two air guide covers 46 are staggered in the circumferential direction of the pipe sleeve 44;

[0119] As shown in the above structure, the disinfection device 4 is installed in the box body 31 through the holder 5. In order to make full use of the space, two disinfection devices 4 are arranged on the holder 5, and the axial flow fans 45 on the two disinfection devices 4 are relatively far away, while the two air guide covers 46 are relatively close, so that the mutual influence of the airflow of the two disinfection devices 4 can be reduced, and the compactness of the structure is ensured at the same time;

[0120] Among them, the grooves 402 opened in the guide covers 46 in the two disinfection devices 4 are staggered in the circumferential direction. Therefore, even after adjusting the single fan-shaped part of the guide cover 46, although the groove 402 becomes larger to leak airflow, the airflow will impact the guide cover 46 of the other disinfection device 4, which can reduce the airflow interference of the two disinfection devices 4 to a certain extent to ensure a good circulation effect.

[0121] like Fig.15 and Fig.16 As shown, the water supply assembly 6 includes a carrier 61, a table 62, a water tank 63, a sealing ring 64 and a screw 65, wherein the carrier 61 is connected to the two connecting arms 13; the table 62 is arranged on the carrier 61, and the table 62 is provided with a through hole 601; the water tank 63 is arranged on the carrier 61, and the top surface of the water tank 63 is open; the sealing ring 64 is arranged on the bottom surface of the table 62 and corresponds to the edge of the top surface opening of the water tank 63; the screw 65 is connected to the carrier 61 by a thread, and one end of the screw 65 abuts against the bottom surface of the water tank 63; when the manipulator 2 is in the storage position, the water supply assembly 6 is located between the two disinfection devices 4;

[0122] As in the above structure, when the water supply assembly 6 is arranged, it is installed on the connecting arm 13 of the flip mechanism 1 through the carrier 61, so that when the flip mechanism 1 is flipped, the water supply assembly 6 and the manipulator 2 are synchronously driven to move;

[0123] The water supply assembly 6 is provided with a table 62, which faces upward when in the osteotomy position and faces downward when in the storage position. The table 62 is used to place surgical instruments and pump assembly;

[0124] The water tank 63 is disposed between the carrier 61 and the table 62, and the top surface of the water tank 63 is open. When in use, the water tank 63 is filled with cleaning liquid and placed on the carrier 61, and then the screw rod 65 is rotated to lift the water tank 63 so that the top surface port of the water tank 63 abuts against the table 62 for sealing;

[0125] In order to ensure the sealing effect, a sealing ring 64 is provided on the bottom surface of the table 62 to fit the opening edge of the water tank 63, thereby achieving a good sealing effect;

[0126] After the water tank 63 is sealed, the pump on the table 62 can be connected to the water tank 63 through the through hole 601, and the water outlet of the pump is connected to the water spray mechanism to clean the patient's wound;

[0127] After the application is completed, the screw rod 65 is rotated to loosen the water tank 63, and then the water tank 63 is taken out for cleaning, which has the advantage of convenient cleaning and convenient disinfection;

[0128] With respect to this structure, the space between the two manipulators 2 and the space between the two disinfection boxes 3 are fully utilized to accommodate the water supply assembly 6, thereby ensuring the compactness of the overall structure.

[0129] In some embodiments, a rotatable support plate is provided at the end of the screw rod 65 to support the water tank 63 and ensure a good supporting effect.

[0130] like Fig.16 As shown, the carrier 61 includes a connecting plate 611 and a supporting plate 612, and a positioning plate 631 is provided at the end of the water tank 63, wherein the connecting plate 611 is connected to the two connecting arms 13; two supporting plates 612 are provided in parallel on the connecting plate 611; the table 62 is provided on the supporting plate 612; the positioning plate 631 is slidably matched with the two supporting plates 612;

[0131] As in the above structure, when assembling, the connection plate 611 is connected to the two connection arms 13;

[0132] Specifically, as shown in the structure shown in the figure, the connecting plate 611 has an annular portion, and the annular portion can be sleeved on the connecting arm 13 for locking and fixing, or directly set as a clamp to facilitate connection with the connecting arm 13;

[0133] Among them, the table plate 62 is connected to the connecting plate 611 through two supporting plates 612, and there is a gap between the two supporting plates 612, and a positioning plate 631 is provided on the water tank 63. Therefore, when installing the water tank 63, the positioning plate 631 of the water tank 63 is placed between the two supporting plates 612 to achieve preliminary positioning, and then the screw rod 65 is rotated to tighten and fix the water tank 63, so as to ensure that the water tank 63 is fully supported on the sealing ring 64.

[0134] like Fig.11 As shown, one end of the three-head bracket 7 is connected to the connecting arm 13, one end is connected to the manipulator 2, and the other end is a free end;

[0135] As in the above structure, two ends of the three-head bracket 7 are used to realize the connection between the connecting arm 13 and the manipulator 2, and the other end is used as a free end; in this way, when the manipulator 2 needs to be repaired, it is convenient to connect the free end of the three-head bracket 7 through the mobile carrier, and then the three-head bracket 7 and the connecting arm 13 can be disassembled, and the manipulator 2 can be removed separately for repair and maintenance;

[0136] At the same time, the free end of the three-head bracket 7 is also used to connect to the support member 8 to support the turning mechanism 1.

[0137] like Figure 1 , Fig. 9 and Fig.12 As shown, the support member 8 includes a positioning frame 81, a swing arm 82 and a support column 83, wherein the positioning frame 81 is relatively fixed to the turning mechanism 1; one end of the swing arm 82 is rotatably connected to the positioning frame 81, and the support column 83 is arranged on the other end of the swing arm 82; the swing arm 82 is used to drive the support column 83 to move between the supporting position and the storage position; when the support column 83 is in the storage position, the end of the support column 83 is located between the two disinfection boxes 3; when the support column 83 is in the supporting position, the top end of the support column 83 is connected to the free end of the three-head bracket 7;

[0138] As in the above structure, the support member 8 is provided with a fixed positioning frame 81, which is connected and fixed to the operating table, and is rotatably connected to a swing arm 82, and a support 83 is provided at the end of the swing arm 82;

[0139] Thus, when used, the support 83 can be swung by the swing arm 82 to move the support 83 between the supporting position and the storage position;

[0140] like Figures 9-11As shown, the support 83 is located at the supporting position, and the top end of the support 83 is connected to the free end of the three-head bracket 7, so as to support the three-head bracket 7 and further support the flip mechanism 1, so as to eliminate the influence of the weight of the load manipulator 2 and the water supply component 6, thereby preventing the structural accuracy of the flip mechanism 1 from being affected;

[0141] like Figures 5 to 8 As shown, it is a schematic diagram of the structure in which the support 83 is located in the storage position. At this time, the end of the support 83 will be located between the two disinfection boxes 3, and then the manipulator 2 can be stored through the flip mechanism 1. The two do not interfere with each other, and the structure is compact, making full use of the space.

[0142] In some embodiments, the support 83 is a telescopic column, the bottom end of the support 83 contacts the ground through a moving wheel, and a pressure sensor is installed on the top. After the top surface of the support 83 is against the free end of the three-head bracket 7, if the pressure value is within the normal threshold range, the support 83 and the three-head bracket 7 are locked, thereby preventing the support 83 from going over the top and affecting the working accuracy of the manipulator 2.

[0143] The osteotomy robot of the present invention further comprises a lifting platform 9 and a bed board 10, wherein the bed board 10 is arranged on the lifting platform 9; the turning mechanism 1 and the disinfection box 3 are arranged on the bottom surface of the bed board 10;

[0144] As in the above structure, the lifting platform 9 and the bed board 10 are components of the operating table, and the turning mechanism 1 and the disinfection box 3 can be installed on the bottom surface of the bed board 10.

[0145] like Figure 5 As shown, when the manipulator 2 is in the storage position, the water supply assembly 6 is located between the flip mechanism 1, the lifting platform 9 and the two disinfection boxes 3; when the support 83 is in the storage position, the end of the support 83 is located between the two disinfection boxes 3, the water supply assembly 6 and the lifting platform 9;

[0146] As shown in the above structure, the osteotomy robot is integrated with the operating table to form an integrated osteotomy platform. The overall structure is more compact and the components can be stored. When not in use, it has a regular appearance and does not occupy space. It is suitable for both osteotomy surgery and other surgeries.

[0147] Furthermore, the housing, box body 31, positioning frame 81, lifting platform 9 and bed board 10 of the linear module 11 are set as an integrated structure;

[0148] As in the above structure, since the flipping mechanism 1 will drive the manipulator 2 to move, and the manipulator 2 will be stored in the disinfection box 3, the three-head bracket 7 used to connect the flipping mechanism 1 and the manipulator 2 also needs to be supported by the support 8, which requires a higher matching accuracy. Therefore, the above components are integrated into an integrated structure to ensure that other components can fit well after installation.

[0149] Specific implementation steps;

[0150] First, the box cover 32 of the disinfection box 3 is opened, and then the dual-axis motor 12 of the turning mechanism 1 is activated to turn the manipulator 2, and then the manipulator 2 is unfolded;

[0151] Then, the swing arm 82 of the support member 8 is unfolded so that the support column 83 abuts against the free end of the three-head bracket 7 to effectively support the manipulator 2 and the flip mechanism 1;

[0152] The water tank 63 of the water supply assembly 6 is used to store cleaning liquid. Among the two manipulators 2, one of the manipulators 2 is installed with a laser cutting head for osteotomy, and the other manipulator 2 is used to install a fill light or a water spraying mechanism. When installing the water spraying mechanism, the water tank 63 is connected through a pump to spray water to clean the wound, thereby cooperating with the work of the laser cutting head;

[0153] After the laser osteotomy operation is completed, the manipulator 2 is initially cleaned, and then the water tank 63 is removed, the support member 8 is reset, and the manipulator 2 is reset again to be in a retracted state, and then the turning mechanism 1 drives the manipulator into the box body 31 of the disinfection box 3;

[0154] Finally, the box cover 32 is closed and disinfection is carried out by the ultraviolet lamp 42 of the disinfection device 4.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom osteotomy mechanism, characterized in that: It comprises a turning mechanism (1), a manipulator (2), a disinfection box (3) and a disinfection device (4), wherein: The movable end of the flipping mechanism (1) is connected to the manipulator (2), and the flipping mechanism (1) is used to drive the manipulator (2) to flip 180 degrees, so that the manipulator (2) is in an osteotomy position or a storage position; The disinfection box (3) comprises a box body (31) fixed relative to the turning mechanism (1), and a box cover (32) that can be opened and closed relative to the box body (31); The disinfection device (4) is arranged in the box (31), and the disinfection device (4) is a gas disinfection device or an ultraviolet disinfection device; The turning mechanism (1) and the disinfection box (3) are connected to the operating table; When the robot arm (2) is in the storage position, the robot arm (2) is located inside the box cover (32).

2. The multi-degree-of-freedom osteotomy mechanism according to claim 1, characterized in that: The flipping mechanism (1) comprises a linear module (11), a dual-axis motor (12) and a connecting arm (13), wherein: The linear module (11) and the disinfection box (3) are relatively fixed; The dual-axis motor (12) is arranged on the movable end of the linear module (11), and the output end of the dual-axis motor (12) is connected to two connecting arms (13); A manipulator (2) is disposed on each of the two connecting arms (13), wherein a laser cutting head is disposed at a movable end of one of the manipulators (2), and a fill light is disposed at a movable end of the other manipulator (2); The disinfection boxes (3) are provided with two corresponding to the manipulators (2).

3. The multi-degree-of-freedom osteotomy mechanism according to claim 2, characterized in that: The disinfection device (4) comprises an end plate (41), an ultraviolet lamp (42), a quartz spiral tube (43), a tube sleeve (44) and an axial flow fan (45), wherein: The end plates (41) are arranged in pairs. Both ends of the ultraviolet lamp (42) are connected to one of the end plates (41); Both ends of the quartz spiral tube (43) are connected to one of the end plates (41), and a plurality of the quartz spiral tubes (43) are arranged around the ultraviolet lamp (42), and the quartz spiral tube (43) is connected to the space in the relatively distant direction between the two end plates (41); The tube sleeve (44) is sleeved on the two end plates (41) to seal the ultraviolet lamp (42) and the quartz spiral tube (43); the tube sleeve (44) is provided with windows (401) corresponding to two adjacent quartz spiral tubes (43), and quartz glass is arranged in the windows (401); The axial flow fan (45) is arranged inside one end of the pipe sleeve (44).

4. The multi-degree-of-freedom osteotomy mechanism according to claim 3, characterized in that: It also includes a retaining frame (5), and the disinfection device (4) also includes a flow guide cover (46), wherein: The air guide cover (46) is arranged on an end of the pipe sleeve (44) away from the axial flow fan (45), the air guide cover (46) is made of plastic material, and a plurality of slots (402) are formed on the air guide cover (46); The retaining frame (5) is arranged in the box body (31), and two of the disinfection devices (4) are arranged on the retaining frame (5), and the ends of the axial flow fans (45) of the two disinfection devices (4) are arranged relatively far away from each other; The grooves (402) of the two air guide covers (46) are staggered in the circumferential direction of the pipe sleeve (44).

5. The multi-degree-of-freedom osteotomy mechanism according to claim 4, characterized in that: It also includes a water supply assembly (6), the water supply assembly (6) including a carrier (61), a table (62), a water tank (63), a sealing ring (64) and a screw rod (65), wherein: The carrier (61) is connected to the two connecting arms (13); The platform (62) is arranged on the carrier (61), and the platform (62) is provided with a through hole (601); The water tank (63) is arranged on the carrier (61), and the top surface of the water tank (63) is open; The sealing ring (64) is arranged on the bottom surface of the table (62) and corresponds to the opening edge of the top surface of the water tank (63); The screw rod (65) is connected to the carrier (61) via threads, and one end of the screw rod (65) abuts against the bottom surface of the water tank (63); When the robot arm (2) is in the storage position, the water supply assembly (6) is located between the two disinfection devices (4).

6. The multi-degree-of-freedom osteotomy mechanism according to claim 5, characterized in that: The carrier (61) comprises a connecting plate (611) and a supporting plate (612), and a positioning plate (631) is provided at the end of the water tank (63), wherein: The connecting plate (611) is connected to the two connecting arms (13); Two support plates (612) are arranged in parallel on the connecting plate (611); The table plate (62) is arranged on the support plate (612); The positioning plate (631) is slidably matched with the two support plates (612).

7. The multi-degree-of-freedom osteotomy mechanism according to claim 6, characterized in that: It also includes a three-head bracket (7) and a support member (8), wherein the support member (8) includes a positioning frame (81), a swing arm (82) and a support column (83), wherein: One end of the three-head bracket (7) is connected to the connecting arm (13), one end is connected to the manipulator (2), and the other end is a free end; The positioning frame (81) and the turning mechanism (1) are relatively fixed; One end of the swing arm (82) is rotatably connected to the positioning frame (81), and the support (83) is arranged on the other end of the swing arm (82); The swing arm (82) is used to drive the support (83) to move between a supporting position and a storage position; When the support (83) is in the storage position, the end of the support (83) is located between the two disinfection boxes (3); When the support column (83) is in the supporting position, the top end of the support column (83) is connected to the free end of the three-head bracket (7).

8. An osteotomy robot, comprising the multi-degree-of-freedom osteotomy mechanism according to claim 7, characterized in that: It also includes a lifting platform (9) and a bed board (10), wherein: The bed board (10) is arranged on the lifting platform (9); The turning mechanism (1) and the disinfection box (3) are arranged on the bottom surface of the bed board (10); When the manipulator (2) is in the storage position, the water supply assembly (6) is located between the turning mechanism (1), the lifting platform (9) and the two disinfection boxes (3); When the support (83) is in the storage position, the end of the support (83) is located between the two disinfection boxes (3), the water supply assembly (6) and the lifting platform (9).

9. The osteotomy robot according to claim 8, characterized in that: The shell of the linear module (11), the box (31), the positioning frame (81), the lifting platform (9) and the bed board (10) are arranged as an integrated structure.

10. An osteotomy robot, comprising the multi-degree-of-freedom osteotomy mechanism according to any one of claims 1 to 7, characterized in that: It also includes a lifting platform (9) and a bed board (10), wherein: The bed board (10) is arranged on the lifting platform (9); The turning mechanism (1) and the disinfection box (3) are arranged on the bottom surface of the bed board (10).

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