A multi-degree-of-freedom osteotomy mechanism and an osteotomy robot

Abstract

The present invention relates to the technical field of medical devices, and provides a multi-degree-of-freedom osteotomy mechanism and an osteotomy robot, which include a flipping mechanism, a manipulator, a disinfection box and a disinfection device. Among them, the movable end of the flipping mechanism is connected to the manipulator; the disinfection box includes a box body fixedly opposite to the flipping mechanism and a box cover that can be opened and closed relative to the box body; the disinfection device is arranged inside the box body, and the disinfection device is a gas disinfection device or an ultraviolet disinfection device; the flipping mechanism and the disinfection box are connected to the operating table; when the manipulator is in the storage position, the manipulator is located inside the box cover. By setting up the disinfection box and a flipping mechanism for installing the manipulator, the present invention can flip the manipulator to the osteotomy position during laser osteotomy, and after the osteotomy is completed, it can be flipped into the disinfection box for disinfection by the disinfection device, effectively improving the convenience of disinfecting the manipulator; 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 space occupation.

Description

Technical Field

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

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

[0003] The existing invention patent application with the authorized announcement number CN113509269B discloses a laser osteotomy-assisted total hip arthroplasty robot, which relates to the technical field of medical devices. It includes a control computer main body, on the front end of the top of which a base is installed. 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, and a support is arranged in front of the control computer main body. A surgical 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, and the laser cutting end effector is used to perform cutting 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 spraying and air blowing device, and the auxiliary water spraying and air blowing device is used to spray water and blow air on the acetabulum.

[0004] In the above technical solution, a surgical robot for laser osteotomy is disclosed. The robot main body is installed on the computer main body through a base. Therefore, during surgery, the robot needs to be moved to the surgical 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] The surgical robot with this structure occupies a relatively large space; secondly, the robot has an open structure and no protection on the outside. Since the robot has many joints and a complex structure, it is not convenient to disinfect, and it is easy to have disinfection dead corners; therefore, the existing surgical robot needs to be improved. Summary of the Invention

[0006] In view of this, the present invention provides a multi-degree-of-freedom osteotomy mechanism and an osteotomy robot that occupy a small space and are convenient for disinfection, so as to solve the problems that the existing osteotomy robots are large in space occupation and difficult to disinfect.

[0007] The technical solution of the present invention is realized as follows:

[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. Among them,

[0009] The movable end of the flipping mechanism is connected to the manipulator. The flipping mechanism is used to drive the manipulator to perform a 180-degree flip so that the manipulator is in the osteotomy position or the storage position.

[0010] The disinfection box includes a box body that is relatively fixed to the flipping mechanism and a box cover that can be opened and closed relative to the box body.

[0011] The disinfection device is arranged inside the box body, and the disinfection device is a gas disinfection device or an ultraviolet disinfection device.

[0012] The flipping mechanism and the disinfection box are connected to the operating table.

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

[0014] On the basis of the above technical solutions, preferably, the flipping mechanism includes a linear module, a double-axis motor, and a connecting arm. Among them,

[0015] The linear module is relatively fixed to the disinfection box.

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

[0017] One manipulator is arranged on each of the two connecting arms. A laser cutting head is arranged at the movable end of one manipulator, and a fill light is arranged at the movable end of the other manipulator.

[0018] Two disinfection boxes are arranged corresponding to the manipulators.

[0019] On the basis of the above technical solutions, preferably, the disinfection device includes end plates, ultraviolet lamps, quartz spiral tubes, tube sleeves, and axial fans. Among them,

[0020] Two end plates are arranged opposite to each other.

[0021] Both ends of the ultraviolet lamp are connected to one end plate respectively.

[0022] Both ends of the quartz spiral tube are connected to one end plate respectively, and a plurality of quartz spiral tubes are arranged around the ultraviolet lamp. The quartz spiral tubes communicate with the space in the direction away from the two end plates.

[0023] The tube sleeve is sleeved on the two end plates to enclose the ultraviolet lamp and the quartz spiral tube. Windows are opened in the tube sleeve corresponding to adjacent two quartz spiral tubes, and quartz glass is arranged in the windows.

[0024] The axial fan is arranged inside one end of the tube sleeve.

[0025] On the basis of the above technical solutions, preferably, it further includes a cage. The disinfection device further includes a diversion cover. Among them,

[0026] The fairing is arranged at one end of the pipe sleeve away from the axial flow fan. The fairing is made of plastic material, and a plurality of cutting grooves are formed on the fairing;

[0027] The cage is arranged in the box body, and two disinfection devices are arranged on the cage. The two disinfection devices are relatively far away from the end of the axial flow fan;

[0028] The cutting grooves of the two fairings intersect in the circumferential direction of the pipe sleeve.

[0029] On the basis of the above technical solutions, preferably, it further includes a water supply assembly. The water supply assembly includes a carrier, a table board, a water tank, a sealing ring and a lead screw. Among them,

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

[0031] The table board is arranged on the carrier, and the table board is provided with through holes;

[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 board and corresponds to the edge of the top surface opening of the water tank;

[0034] The lead screw is threadedly connected to the carrier, and one end of the lead screw 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 solutions, preferably, the carrier includes a connecting plate and a supporting plate. A positioning plate is arranged at the end of the water tank. Among them,

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

[0038] Two supporting plates are arranged in parallel on the connecting plate;

[0039] The table board is arranged on the supporting plate;

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

[0041] On the basis of the above technical solutions, preferably, it further includes a three-head bracket and a support member. The support member includes a positioning frame, a swing arm and a pillar. Among them,

[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 is relatively fixed to the flipping mechanism;

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

[0045] The swing arm is used to drive the support column to displace between the support position and the storage position;

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

[0047] When the support column is in the support 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, which includes the above - mentioned multi - degree - of - freedom osteotomy mechanism, and also includes a lifting platform and a bed board. Among them,

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

[0050] The flipping 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 component is located between the flipping 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 housing of the linear module, the box body, the positioning frame, the lifting platform and the bed board are set as an integral structure.

[0054] On yet another aspect, the present invention provides an osteotomy robot, which includes the multi - degree - of - freedom osteotomy mechanism as described above, and includes a lifting platform and a bed board. Among them,

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

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

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

[0058] (1) By providing a disinfection box and a flipping mechanism for installing the manipulator, when performing laser osteotomy, the manipulator can be flipped to the osteotomy position, and after the osteotomy is completed, it can be flipped into the disinfection box for disinfection by an ultraviolet or gas disinfection device, which effectively improves the convenience of disinfecting the manipulator; at the same time, the flipping mechanism and the disinfection box are connected to the operating table, which realizes a high degree of integration of the structure and reduces the space occupied by the equipment; since the starting position of the manipulator is fixed, it is also beneficial to unify the surgical coordinates;

[0059] (2) The tube sleeve in the disinfection device is spatially separated by an end plate. The ultraviolet lamp and the quartz screw tube are arranged between two partition plates, and the quartz screw tube passes through the partition plates. In this way, during disinfection, relying on the suction of the axial flow fan, the air flow in the disinfection box can be promoted to flow through the quartz spiral tube. At this time, the ultraviolet lamp will disinfect the germs carried by the air flow; in this structure, the gas circulation method is adopted for disinfection, so dead corner areas can be eliminated. At the same time, the quartz spiral tube can extend the gas travel to ensure the disinfection effect;

[0060] (3) In this osteotomy mechanism, the disinfection device is fixed by a cage. There are two disinfection devices arranged on the cage, 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 occupation; and under the action of the flow guide cover, the air flow interference during the operation of the two disinfection devices can be significantly reduced to fully ensure the air flow circulation, and then ensure the disinfection effect; at the same time, the flow guide cover is made of plastic material and provided with a cut groove, so that the local orientation of the flow guide cover can be adjusted, thereby improving the gas flow to ensure disinfection;

[0061] (4) In this osteotomy mechanism, the flipping mechanism is provided with two connecting arms to install a laser cutting head and a supplementary light through two manipulators, so as to perform laser osteotomy and improve the convenience of observation; at the same time, the water supply component is connected to the two connecting arms. In this way, when the flipping 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 both the water spraying supply during the operation can be ensured and the space occupation will not be caused;

[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 being repaired, it is convenient to connect the free end of the three-head bracket through a moving carrier, and then the three-head bracket can be disassembled from the connecting arm, improving the convenience of maintenance;

[0063] (6) In this osteotomy robot, by setting the housing, box body, positioning frame, lifting platform and bed board of the linear module as an integral structure, the relative fixation of each component can be ensured, so as to ensure that when the flipping mechanism moves, the movement positions of each component are accurate to prevent interference, thereby ensuring a good storage effect. Description of the Drawings

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0065] Figure 1Stereogram of the multi - degree - of - freedom osteotomy mechanism of the present invention;

[0066] Figure 2 Stereogram of the manipulator extraction structure of the multi - degree - of - freedom osteotomy mechanism of the present invention;

[0067] Figure 3 Stereogram of the support member of the multi - degree - of - freedom osteotomy mechanism of the present invention for support;

[0068] Figure 4 Stereogram of the osteotomy robot of the present invention;

[0069] Figure 5 Stereogram of the bottom structure of the osteotomy robot of the present invention;

[0070] Figure 6 Side view of the osteotomy robot of the present invention;

[0071] Figure 7 Stereogram of the manipulator extraction structure of the osteotomy robot of the present invention;

[0072] Figure 8 Bottom stereogram of the manipulator extraction structure of the osteotomy robot of the present invention;

[0073] Figure 9 Stereogram of the application state of the osteotomy robot of the present invention;

[0074] Figure 10 Bottom - structure stereogram of the application state of the osteotomy robot of the present invention;

[0075] Figure 11 Of the present invention Figure 10 Enlarged view of the structure at point A;

[0076] Figure 12 Side view of the application state of the osteotomy robot of the present invention;

[0077] Figure 13 Stereogram of the disinfection device and cage of the multi - degree - of - freedom osteotomy mechanism of the present invention;

[0078] Figure 14 Exploded view of the disinfection device of the multi - degree - of - freedom osteotomy mechanism of the present invention;

[0079] Figure 15 Exploded view of the water - supply assembly of the multi - degree - of - freedom osteotomy mechanism of the present invention;

[0080] Figure 16 Bottom view of the exploded structure of the water - supply assembly of the multi - degree - of - freedom osteotomy mechanism of the present invention;

[0081] In the figure: 1. Flipping mechanism; 11. Linear module; 12. Biaxial motor; 13. Connecting arm; 101. Semi-circular 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. Tube sleeve; 45. Axial flow fan; 46. Deflector; 401. Window; 402. Cutting groove; 5. Cage; 6. Water supply assembly; 61. Carrier; 611. Connecting plate; 612. Support plate; 62. Table board; 63. Water tank; 631. Positioning plate; 64. Sealing ring; 65. Lead screw; 601. Through hole; 7. Three-head bracket; 8. Support member; 81. Positioning frame; 82. Swing arm; 83. Support pillar; 9. Lifting platform; 10. Bed board. Detailed implementation manners

[0082] Next, in combination with the implementation manners of the present invention, the technical solutions in the implementation manners of the present invention will be clearly and completely described. Obviously, the described implementation manners are only a part of the implementation manners of the present invention, rather than all the implementation manners. Based on the implementation manners in the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

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

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

[0085] As Figures 1 to 4 shown, the movable end of the flipping mechanism 1 is connected to the manipulator 2. The flipping mechanism 1 is used to drive the manipulator 2 to perform a 180-degree flip, so that the manipulator 2 is in the osteotomy position or the storage position; the disinfection box 3 includes a box body 31 that is 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 inside the box cover 32.

[0086] In the above structure, the flipping mechanism 1 is used to drive the manipulator 2 to perform a flipping displacement, so as to drive the manipulator 2 to move between the osteotomy position and the storage position;

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

[0088] Among them, the manipulator 2 is used to perform osteotomy operations. During application, a laser cutting head is installed at the end of the manipulator 2 to cut bones;

[0089] After the osteotomy operation is completed, clean the manipulator 2 and the laser cutting head at its end, and then use the flipping mechanism 1 to transfer the manipulator 2 to the storage position;

[0090] Specifically, when the flipping mechanism 1 operates, the lid 32 is in the open state to enable the movement of the manipulator 2. After the manipulator 2 is moved to the storage position, then close the lid 32 with the box body 31 to seal the manipulator 2;

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

[0092] As Figure 11 shown, semi-circular grooves 101 are opened on both the box body 31 and the lid 32 of the disinfection box 3 to allow the connecting piece between the manipulator 2 and the flipping mechanism 1 to pass through, thus avoiding interference with the closing of the lid 32;

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

[0094] Specifically, the box body 31 and the lid 32 are connected by hinges and buckles to enable the lid 32 to be opened and closed;

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

[0096] As described above, after the flipping mechanism 1 drives the manipulator 2 into the box body 31, disinfect the manipulator 2 through the disinfection device 4;

[0097] Specifically, the disinfection device 4 uses a gas disinfection device or an ultraviolet disinfection device to achieve the sterilization work 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, this osteotomy mechanism realizes the integration with the operating table, can reduce the floor area, forms an integrated osteotomy platform, has a compact overall structure, and has the advantage of convenient disinfection.

[0099] As Figure 1 and Figure 5As shown in the figure, the flipping mechanism 1 includes a linear module 11, a dual-axis motor 12, and a connecting arm 13. Among them, 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 two connecting arms 13 are connected to the output end of the dual-axis motor 12; one manipulator 2 is arranged on each of the two connecting arms 13. A laser cutting head is arranged at the movable end of one manipulator 2, and a fill light is arranged at the movable end of the other manipulator 2; two disinfection boxes 3 are arranged corresponding to the manipulators 2.

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

[0101] During the operation, a fill light is usually used for observation; therefore, a dual-axis motor 12 is adopted, and two connecting arms 13 are arranged on the two output shafts to install two manipulators 2. One manipulator 2 is installed with a laser cutting head, and the other manipulator 2 is installed with a fill light; for the convenience of disinfection, two disinfection boxes 3 are arranged correspondingly.

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

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

[0104] In some embodiments, a water spraying mechanism is installed at the end of the manipulator 2 instead of a fill light for flushing the patient's wound.

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

[0106] Specifically, the connecting arm 13 is a connecting member between the manipulator 2 and the flipping mechanism 1. When storing, the connecting arm 13 passes through the semi-circular groove 101.

[0107] As Figure 8 and Figure 14As shown in the figure, the disinfection device 4 includes end plates 41, ultraviolet lamps 42, quartz spiral tubes 43, tube sleeves 44 and axial flow fans 45. Among them, there are two relatively arranged end plates 41; both ends of the ultraviolet lamp 42 are connected to one end plate 41 each; both ends of the quartz spiral tube 43 are connected to one end plate 41 each, and a plurality of quartz spiral tubes 43 are arranged around the ultraviolet lamp 42, and the quartz spiral tubes 43 communicate with the space in the relatively far - away direction of the two end plates 41; the tube sleeve 44 is sleeved on the two end plates 41 to enclose the ultraviolet lamp 42 and the quartz spiral tubes 43. The tube sleeve 44 is provided with windows 401 corresponding to adjacent two 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 tube sleeve 44;

[0108] In the above - mentioned structure, in this embodiment, the disinfection device 4 uses ultraviolet disinfection;

[0109] Among them, the end plates 41 are located inside the tube sleeve 44, dividing the internal space of the tube sleeve 44 into three parts. The ultraviolet lamps 42 and the quartz spiral tubes 43 are located in the middle position of the tube sleeve 44, that is, between the two end plates 41; at the same time, the quartz spiral tubes 43 pass through the two end plates 41 to communicate with the outside;

[0110] The axial flow fan 45 is arranged in one end - space of the tube sleeve 44. In this way, when the axial flow fan 45 works, the air flow will enter the quartz spiral tube 43 from the other end of the tube sleeve 44 to pass through between the two end plates 41; at the same time, the ultraviolet lamp 42 works to sterilize the air flow through ultraviolet rays;

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

[0112] In this structure, the air circulation in the disinfection box 3 can be realized by relying on the axial flow fan 45 to avoid the problem of insufficient disinfection caused by being blocked by the manipulator 2, thereby eliminating the sterilization dead - angle and ensuring a good sterilization effect.

[0113] At the same time, windows 401 are opened on the tube sleeve 44, and the windows 401 correspond to the gaps between adjacent two quartz spiral tubes 43. In this way, ultraviolet rays can also pass through the windows 401 for sterilization;

[0114] Specifically, the windows 401 and the spiral tubes are both made of quartz glass material. Quartz glass has good UV light transmittance to ensure the sterilization effect.

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

[0116] Such as Figure 13 and Figure 14As shown, the disinfection device 4 further includes a flow guide cover 46. Among them, the flow guide cover 46 is arranged at one end of the pipe sleeve 44 away from the axial flow fan 45. The flow guide cover 46 is made of plastic material, and a plurality of cutting grooves 402 are formed on the flow guide cover 46;

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

[0118] As Figure 13 and Figure 14 As shown, the cage 5 is arranged in the box body 31, and two disinfection devices 4 are arranged on the cage 5. The ends of the two disinfection devices 4 where the axial flow fans 45 are arranged are relatively far away from each other; the cutting grooves 402 of the two flow guide covers 46 are staggered in the circumferential direction of the pipe sleeve 44;

[0119] In the above structure, the disinfection device 4 is installed in the box body 31 through the cage 5. In order to make full use of the space, two disinfection devices 4 are arranged on the cage 5, and the axial flow fans 45 on the two disinfection devices 4 are relatively far away from each other, while the two flow guide covers 46 are relatively close to each other. In this way, the air flow of the two disinfection devices 4 can be reduced from interfering with each other, and at the same time, the structural compactness is ensured;

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

[0121] As Figure 15 and Figure 16 As shown, the water supply assembly 6 includes a carrier 61, a table board 62, a water tank 63, a sealing ring 64 and a lead screw 65. Among them, the carrier 61 is connected to the two connecting arms 13; the table board 62 is arranged on the carrier 61, and the table board 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 board 62 and corresponds to the edge of the top surface opening of the water tank 63; the lead screw 65 is threadedly connected to the carrier 61, and one end of the lead 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] In the above structure, when arranging the water supply assembly 6, it is installed on the connecting arm 13 of the flipping mechanism 1 through the carrier 61. In this way, when the flipping mechanism 1 flips, it synchronously drives the water supply assembly 6 and the manipulator 2 to move;

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

[0124] The water tank 63 is arranged between the carrier 61 and the platen 62, and the top surface of the water tank 63 is open. During application, the cleaning liquid is injected into the water tank 63 and placed on the carrier 61. Then, the lead screw 65 is rotated to lift the water tank 63 so that the top port of the water tank 63 abuts against the platen 62 for sealing;

[0125] To ensure the sealing effect, a sealing ring 64 is arranged on the bottom surface of the platen 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 platen 62 can be connected to the water tank 63 through the through hole 601, and the water outlet end of the pump is connected to the water spraying mechanism to clean the patient's wound;

[0127] After application, rotate the lead screw 65 to loosen the water tank 63, and then take out the water tank 63 for cleaning. It has the advantage of convenient cleaning and is convenient for disinfection work;

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

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

[0130] As Figure 16 shown, the carrier 61 includes a connecting plate 611 and a support plate 612. The end of the water tank 63 is provided with a positioning plate 631. Among them, 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 platen 62 is arranged on the support plates 612; the positioning plate 631 is in sliding fit with the two support plates 612;

[0131] In the above structure, during assembly, it can be connected through the connecting plate 611 and the two connecting arms 13;

[0132] Specifically, in the shown structure, the connecting plate 611 has an annular part, and the annular part 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 platen 62 is connected by two support plates 612 and a connecting plate 611. There is a gap between the two support plates 612, and a positioning plate 631 is provided on the water tank 63. Thus, when installing the water tank 63, the positioning plate 631 of the water tank 63 is placed between the two support plates 612 to achieve preliminary positioning. Then, the lead screw 65 is rotated to tightly fix the water tank 63, so as to ensure that the water tank 63 fully abuts against the sealing ring 64.

[0134] As Figure 11 shown, one end of the three - headed 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] In the above structure, two of the ends of the three - headed bracket 7 are used to connect the connecting arm 13 and the manipulator 2, and the other end is used as a free end; thus, when the manipulator 2 needs to be overhauled, it is convenient to connect the free end of the three - headed bracket 7 through the moving carrier. Subsequently, the three - headed bracket 7 can be disassembled from the connecting arm 13, and the manipulator 2 can be separately removed for overhaul and maintenance;

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

[0137] As Figure 1 、 Figure 9 and Figure 12 shown, the support member 8 includes a positioning frame 81, a swing arm 82, and a support column 83. Among them, the positioning frame 81 is relatively fixed to the flipping mechanism 1; one end of the swing arm 82 is rotatably connected to the positioning frame 81, and the support column 83 is provided at the other end of the swing arm 82; the swing arm 82 is used to drive the support column 83 to displace between the support 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 support position, the top of the support column 83 is connected to the free end of the three - headed bracket 7;

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

[0139] Thus, during application, the swing arm 82 can be used to swing the support column 83 to move the support column 83 between the support position and the storage position;

[0140] As Figures 9 to 11As shown, the support column 83 is in the supporting position. At this time, the top end of the support column 83 is connected to the free end of the three-head support 7, so as to realize the support of the three-head support 7, and further realize the support of the flipping mechanism 1, so as to eliminate the influence of the weight of the load manipulator 2 and the water supply component 6, and further prevent the influence on the structural accuracy of the flipping mechanism 1;

[0141] As Figures 5 to 8 shown, it is a schematic structure of the support column 83 in the storage position. At this time, the end of the support column 83 will be located between the two disinfection boxes 3, and then the manipulator 2 can be stored through the flipping 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 column 83 is a telescopic column. The bottom end of the support column 83 contacts the ground through a moving wheel, and a pressure sensor is installed at the top end. After the top surface of the support column 83 abuts against the free end of the three-head support 7, if the pressure value is within the normal threshold range, the support column 83 and the three-head support 7 are locked, so as to prevent the support column 83 from overtopping and affecting the working accuracy of the manipulator 2.

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

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

[0145] As Figure 5 shown, when the manipulator 2 is in the storage position, the water supply component 6 is located between the flipping mechanism 1, the lifting platform 9 and the two disinfection boxes 3; 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, the water supply component 6 and the lifting platform 9;

[0146] With the above structure, in this osteotomy robot, the integration with the operating table is realized, forming an integrated osteotomy platform. The overall structure is more compact, and each component can be stored. When not in use, it has a regular appearance and will not occupy space, and it is suitable for both osteotomy surgery and other surgeries.

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

[0148] In the above structure, since the flipping mechanism 1 drives the manipulator 2 to move, and the manipulator 2 is received through the disinfection box 3, the three-headed bracket 7 connecting the flipping mechanism 1 and the manipulator 2 also needs to be supported by the support member 8, which requires a high fitting accuracy. Therefore, the above components are integrated into an integral structure to ensure good cooperation after the installation of other components.

[0149] Specific implementation steps;

[0150] First, open the lid 32 of the disinfection box 3. Then, the dual-axis motor 12 of the flipping mechanism 1 operates to flip the manipulator 2, and then the manipulator 2 can be unfolded.

[0151] After that, unfold the swing arm 82 of the support member 8 so that the support column 83 abuts against the free end of the three-headed bracket 7 to effectively support the manipulator 2 and the flipping mechanism 1.

[0152] The water tank 63 of the water supply component 6 is used to store the cleaning liquid. Among the two manipulators 2, one manipulator 2 is installed with a laser cutting head for osteotomy operation, and the other manipulator 2 is used to install a supplementary light or a water spraying mechanism. When installing the water spraying mechanism, connect the water tank 63 through a pump to spray water to clean the wound, so as to cooperate with the work of the laser cutting head.

[0153] After the laser osteotomy operation is completed, initially clean the manipulator 2. Then, remove the water tank 63, reset the support member 8, and the manipulator 2 self-resets to a retracted state. Subsequently, the flipping mechanism 1 drives the manipulator into the box body 31 of the disinfection box 3.

[0154] Finally, close the lid 32 and disinfect it with the ultraviolet lamp 42 of the disinfection device 4.

[0155] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 manipulator (2) is in the storage position, the manipulator (2) is located inside the box cover (32); The flip mechanism (1) comprises 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); one of the two connecting arms (13) is respectively provided with a manipulator (2), wherein the movable end of one of the manipulators (2) is provided with a laser cutting head, and the movable end of the other manipulator (2) is provided with a fill light; and two of the disinfection boxes (3) are provided corresponding to the manipulators (2).

2. The multi-degree-of-freedom osteotomy mechanism according to claim 1, 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).

3. The multi-degree-of-freedom osteotomy mechanism according to claim 2, 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).

4. The multi-degree-of-freedom osteotomy mechanism according to claim 3, 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).

5. The multi-degree-of-freedom osteotomy mechanism according to claim 4, 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).

6. The multi-degree-of-freedom osteotomy mechanism according to claim 5, 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 (83) is in the supporting position, the top end of the support (83) is connected to the free end of the three-head bracket (7).

7. An osteotomy robot, comprising the multi-degree-of-freedom osteotomy mechanism according to claim 6, 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).

8. The osteotomy robot according to claim 7, 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.

9. An osteotomy robot, comprising the multi-degree-of-freedom osteotomy mechanism according to any one of claims 1 to 6, 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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