Multifunctional micro-robot and method for precisely positioning cleft lip and palate repair surgery

Abstract

The invention relates to a multifunctional micro-robot and method for precisely positioning cleft lip and palate repair surgery, and belongs to the technical field of medical auxiliary instruments. Comprising a pillow arranged at one end of a bed body, a supporting frame is inserted into the pillow in a damping mode, an extension block is fixedly arranged on one side of the supporting frame, a displayer is arranged on the extension block, a connecting frame is fixedly arranged on one side of the extension block, two lifting rods are adjustably arranged on the connecting frame, and electric push rods are fixedly arranged at the bottom ends of the lifting rods. The outer wall of the electric push rod and the output end of the electric push rod are each provided with a clamping plate used for clamping the lips. By means of the ingeniously-designed clamping plates, turning mechanisms, limiting columns, lifting adjusting mechanisms and the like, precise clamping and turning of lips are achieved, the comfort level and safety of an operation are greatly improved, meanwhile, powerful support is provided for sanitary guarantee of the operation due to the addition of the disinfection and cleaning functions, and the operation safety is improved. And smooth proceeding of an operation and rapid rehabilitation of a patient are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical auxiliary equipment and relates to a multifunctional micro robot and method for accurately positioning cleft lip and palate repair surgery. Background Art

[0002] Cleft lip and palate is a common congenital deformity that requires surgical repair. Traditional cleft lip and palate repair surgery relies on manual operation by doctors. Although the technology is mature, there is still room for improvement in terms of accuracy and minimal invasiveness.

[0003] The development of precise positioning micro-robot technology has provided new solutions for cleft lip and palate repair surgery. Through high-precision positioning and tiny operating tools, these robots can achieve more precise repairs while reducing trauma.

[0004] At present, some precise positioning micro-robots have been used in the medical field, especially in oral and maxillofacial surgery. These robots are usually equipped with advanced optical tracking and navigation systems and automatic recognition technology, which can achieve precise positioning of the entire dentition or maxillofacial structure in the oral cavity.

[0005] However, the existing robots still have the following disadvantages during use: Since the lips are relatively soft, medical staff have to pull them manually during the operation, which makes it difficult to control the opening and closing of the lip flaps. In addition, the hand-held instruments can easily touch the teeth and internal tissues during movement, making it very inconvenient to use.

[0006] Therefore, we proposed a multifunctional microrobot and method for precise positioning of cleft lip and palate repair surgery to solve the above-mentioned problems. Summary of the invention

[0007] In view of this, the present invention provides a multifunctional micro robot and method for precise positioning of cleft lip and palate repair surgery in order to solve the problem that the lips are relatively soft, which makes it inconvenient for medical staff to manually pull them during surgery, and that the hand-held instruments are likely to touch the teeth and internal tissues during movement, making it very inconvenient to use.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solution: comprising a pillow arranged at one end of a bed body, a support frame being plugged in a damping manner on the pillow, an extension block being fixedly arranged on one side of the support frame, a display being arranged on the extension block, a connecting frame being fixedly arranged on one side of the extension block, two lifting rods being adjustable on the connecting frame, an electric push rod being fixedly arranged at the bottom end of the lifting rod, and a clamping plate for clamping lips being arranged on the outer wall of the electric push rod and the output end of the electric push rod; A first driving member, disposed on the connecting frame, for driving the two lifting rods to move toward and away from each other; The second driving member is arranged on the connecting frame and is used to drive the lifting rod to move up and down to lift the lips, thereby providing space for surgical suturing; The turning mechanism is arranged on the electric push rod and is used to turn the inside of the lips outwards to provide space for suturing the inside of the lips; A lifting pillow is provided on one side of the pillow in a liftable manner and is located at the neck of a patient, so as to raise the neck of the patient and allow the head to tilt back.

[0009] Furthermore, the first driving member includes two sliding blocks slidably arranged in the connecting frame, the lifting rod is slidably arranged in the corresponding sliding blocks, a second bidirectional screw is rotatably arranged on one side of the connecting frame, the sliding block is threadedly sleeved on the second bidirectional screw, a third motor is fixedly arranged on one side of the connecting frame, and the output end of the third motor is fixedly connected to the second bidirectional screw.

[0010] Furthermore, the second driving member includes a sliding seat fixedly arranged on the top of the sliding block, a second motor is fixedly arranged on the top of the sliding seat, a nut ring is threadedly sleeved on the outer wall of the lifting rod, the nut ring is rotatably arranged on the top of the sliding seat, and the outer wall of the nut ring and the output end of the second motor are fixedly sleeved with meshing gears.

[0011] Furthermore, the flipping mechanism includes a first rotating plate rotatably sleeved on the outer wall of the electric push rod, the outer wall of the electric push rod sliding sleeve is provided with a sliding ring, the outer wall of the sliding ring and the output end of the electric push rod are both rotatably sleeved with a second rotating plate, the two clamping plates are respectively fixedly connected to the corresponding second rotating plate and the first rotating plate, the output end of the electric push rod is fixedly provided with a connecting rod, the top of the connecting rod is fixedly connected to the sliding ring, one end of the two second rotating plates is rotatably provided with the same connecting rod, one side of the connecting frame is rotatably provided with a rotating rod, one side of the connecting frame is fixedly provided with a fourth motor, the output end of the fourth motor is fixedly connected to the rotating rod, and the top of the connecting rod is connected to the rotating rod through a connecting piece, for driving the lower clamping plate to flip.

[0012] Furthermore, the connecting member includes a storage roller that penetrates and rotates in the sliding seat, the storage roller is slidingly sleeved on the rotating rod, the outer wall of the storage roller is fixed and wrapped with a pull rope, and the bottom end of the pull rope is fixedly connected to the connecting rod.

[0013] Furthermore, a rectangular hole is formed at one end of the first rotating plate, and the connecting rod is located in the rectangular hole to drive the first rotating plate to flip.

[0014] Furthermore, a limiting column for limiting the position of the first rotating plate is fixedly provided on the outer wall of the electric push rod, and the limiting column is inclined after being limited.

[0015] Furthermore, a fixing seat is fixedly provided on one side of the pillow, two nut blocks are slidably provided in the fixing seat, a first bidirectional screw is rotatably provided through one side of the fixing seat, the nut block is threadedly sleeved on the first bidirectional screw, a connecting plate is rotatably provided on the top end of the nut block, the top end of the connecting plate is rotatably connected to the lifting pillow, a first motor is fixedly provided on one side of the fixing seat, and the output end of the first motor is fixedly connected to the first bidirectional screw.

[0016] Furthermore, the second rotating plate is connected to the electric push rod via a damping shaft to prevent the second rotating plate from rotating randomly.

[0017] The method of using a multifunctional micro robot for precise positioning of cleft lip and palate repair surgery comprises the following steps: S1. First, the patient lies on the bed with his head on the pillow, then presses down the support frame and presses the limit frame on the head to fix the head; S2, then, start the second motor to drive the lifting rod down until the lower clamping plate contacts the lip, and at the same time start the third motor to drive the two sets of clamping plates to move closer to each other until they move to a suitable position; S3, then place the upper lip between the upper and lower clamping plates, and at the same time start the electric push rod to retract and drive the lower clamping plate to move upward, and cooperate with the upper clamping plate to clamp the lip; S4, when the two lips need to be brought closer to each other, the third motor is started to drive the two lifting rods to move closer to each other, otherwise they move away from each other; S5. When the lips need to be turned open, the fourth motor is started to drive the connecting rod to move upward, which can drive the two clamping plates to tilt at the same time and drive the lips to turn outward.

[0018] The beneficial effects of the present invention are: 1. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery disclosed in the present invention integrates multiple functions such as head support, lip clamping, lifting and lowering adjustment, flipping and turning, disinfection and cleaning, and surgical information display, providing all-round and accurate support for cleft lip and palate repair surgery. Through the fine adjustment and flipping mechanism, the doctor can accurately position and operate, greatly improving the accuracy and success rate of the surgery; 2. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery disclosed in the present invention can flexibly adjust the distance and height between the two lifting rods and the clamping movement of the lips through the setting of the first driving member and the second driving member, so as to meet the surgical needs of different patients. At the same time, the adjustment of the lifting pillow also facilitates the doctor to adjust the head position according to the specific situation of the patient, thereby enhancing the adaptability and personalization of the surgery; 3. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery disclosed in the present invention enables doctors to disinfect and clean the splint in real time during the operation through the arrangement of a disinfection box, a syringe and related pipelines, effectively avoiding the risk of cross infection. At the same time, the function of automatically replenishing disinfectant also ensures the continuity and efficiency of the disinfection process, providing strong support for the hygienic guarantee of the operation; 4. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery disclosed in the present invention can simultaneously drive two clamps to flip through the connecting rod and the fourth motor. After the lips are clamped and flipped, a larger operating space can be provided for internal lip suturing, thereby improving the efficiency of the surgery and facilitating the operation. The present invention not only realizes the precise clamping and flipping of the lips through the cleverly designed splint, flipping mechanism, limit column and lifting and adjusting mechanism, but also greatly improves the comfort and safety of the operation. At the same time, the addition of disinfection and cleaning functions provides strong support for the hygienic protection of the operation, ensuring the smooth progress of the operation and the rapid recovery of the patient.

[0019] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein: Figure 1 A schematic diagram of the three-dimensional structure of a multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to the present invention; Figure 2 A schematic diagram of the three-dimensional structure of the multifunctional microrobot used for accurate positioning of cleft lip and palate repair surgery of the present invention from another perspective; Figure 3 It is a schematic cross-sectional structural diagram of a lifting pillow of a multifunctional micro-robot for precise positioning of cleft lip and palate repair surgery of the present invention; Figure 4 This is a schematic diagram of the structure of the lifting rod and the connecting frame of the multifunctional micro robot used for accurate positioning of cleft lip and palate repair surgery of the present invention; Figure 5 This is a schematic diagram of the lifting rod and gear structure of the multifunctional micro robot used for accurate positioning of cleft lip and palate repair surgery of the present invention; Figure 6 This is a schematic diagram of the installation structure of the lifting rod and the splint of the multifunctional micro robot used for accurate positioning of cleft lip and palate repair surgery of the present invention; Figure 7 This is a schematic diagram of the installation structure of the lifting rod and the sliding block of the multifunctional micro robot used for accurate positioning of cleft lip and palate repair surgery of the present invention; Figure 8 This is a schematic diagram of the structure of a disinfection box of a multifunctional micro-robot for accurate positioning of cleft lip and palate repair surgery according to the present invention; Fig. 9 This is a schematic diagram of the cross-sectional structure of the syringe of the multifunctional micro-robot used for precise positioning of cleft lip and palate repair surgery according to the present invention.

[0021] Figure numerals: 1, bed body; 2, pillow; 3, lifting pillow; 4, support frame; 5, extension block; 6, display; 7, lifting rod; 8, clamping plate; 9, limit frame; 10, first bidirectional screw; 11, fixing seat; 12, first motor; 13, nut block; 14, connecting plate; 15, disinfection box; 16, syringe; 17, containing tube; 18, connecting frame; 19, extension frame; 20, sliding seat; 21, nut ring; 22, gear; 23, second motor ; 24. The third motor; 25. The fourth motor; 26. The rotating rod; 27. The storage roller; 28. The pull rope; 29. ​​The electric push rod; 30. The sliding ring; 31. The first rotating plate; 32. The limiting column; 34. The second rotating plate; 35. The connecting rod; 36. The connecting rod; 37. The rectangular hole; 38. The second bidirectional screw; 39. The sliding block; 40. The connecting seat; 41. The first rectangular opening; 42. The second rectangular opening; 43. The first sponge block; 44. The second sponge block. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0023] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0024] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0025] Embodiment 1 like Figure 1-Figure 9 As shown, a multifunctional micro-robot for precise positioning of cleft lip and palate repair surgery includes a pillow 2 arranged at one end of a bed 1 to provide head support for the patient. On the pillow 2, a support frame 4 is connected by a damping plug-in method, so that the support frame 4 can be firmly installed on the pillow 2, and it is easy to disassemble and clean. At the same time, a limit frame 9 for fixing the head is fixedly provided on one side of the support frame 4, and an extension block 5 is fixedly connected to one side of the support frame 4 for installing other components. On the extension block 5, a display 6 is fixed by bolts for displaying relevant information during the operation, such as images, data, etc., to provide convenience for doctors, and a camera is provided at the bottom of the extension block 5, which can enlarge the lip image and present it on the display 6.

[0026] On one side of the extension block 5, a connecting frame 18 is fixed by bolts, and two lifting rods 7 are adjustably arranged on the connecting frame 18. Specifically, an electric push rod 29 is fixedly welded to the bottom end of each lifting rod 7, and a clamping plate 8 for clamping the lips is arranged on the outer wall and output end of the electric push rod 29. A soft rubber pad can be arranged on the inner side of the clamping plate 8 to increase the comfort during clamping and avoid causing harm to the patient.

[0027] In order to achieve the two lifting rods 7 to move closer to or farther from each other, the present invention sets a first driving member on the connecting frame 18. The first driving member includes two sliding blocks 39 slidably arranged in the connecting frame 18, and the lifting rod 7 passes through and slides in the corresponding sliding blocks 39. On one side of the connecting frame 18, a second bidirectional screw 38 is penetrated and rotatably arranged, and the sliding block 39 is threadedly sleeved on the second bidirectional screw 38. When the second bidirectional screw 38 rotates, due to the effect of the thread, the two sliding blocks 39 will move closer to or farther from each other along the axial direction of the second bidirectional screw 38, thereby driving the two lifting rods 7 to move accordingly. In order to drive the second bidirectional screw 38 to rotate, a third motor 24 is also fixed to one side of the connecting frame 18 by bolts, and the output end of the third motor 24 is fixedly connected to the second bidirectional screw 38.

[0028] In order to realize the lifting and lowering movement of the lifting rod 7, the present invention further provides a second driving member on the connecting frame 18. The second driving member includes a sliding seat 20 fixedly arranged on the top of the sliding block 39, and a second motor 23 is fixed to the top of the sliding seat 20 by bolts. A nut ring 21 is threadedly sleeved on the outer wall of the lifting rod 7, and the nut ring 21 penetrates and is rotatably arranged on the top of the sliding seat 20. The outer wall of the nut ring 21 and the output end of the second motor 23 are fixedly sleeved with meshing gears 22. When the second motor 23 rotates, it will drive the gear 22 connected to its output end to rotate, and then drive the nut ring 21 to rotate through the meshing action. Since the nut ring 21 is threadedly sleeved on the lifting rod 7, when the nut ring 21 rotates, it will move along the axial direction of the lifting rod 7, thereby driving the lifting rod 7 to lift and lower.

[0029] In order to turn the inside of the lips outward and provide space for suturing the inside of the lips, the present invention sets a turning mechanism on the electric push rod 29. The turning mechanism includes a first rotating plate 31 rotatably sleeved on the outer wall of the electric push rod 29, and a sliding ring 30 is slidably sleeved on the outer wall of the electric push rod 29. The outer wall of the sliding ring 30 and the output end of the electric push rod 29 are both rotatably sleeved with a second rotating plate 34, and the two clamping plates 8 are respectively fixedly connected to the corresponding second rotating plate 34 and the first rotating plate 31. The output end of the electric push rod 29 is also fixedly welded with a connecting rod 35, and the top of the connecting rod 35 is fixedly connected to the sliding ring 30. One end of the two second rotating plates 34 is rotatably provided with the same connecting rod 36. Through the connection effect of the connecting rod 36, when the lower second rotating plate 34 moves upward, it will drive the upper second rotating plate 34 to move upward synchronously. In order to realize the rotation of the second rotating plate 34, a rotating rod 26 is rotatably provided on one side of the connecting frame 18, and a fourth motor 25 is also fixedly fixed to one side of the connecting frame 18 by bolts, and the output end of the fourth motor 25 is fixedly connected to the rotating rod 26. The top end of the connecting rod 36 is connected to the rotating rod 26 through a connecting piece. When the fourth motor 25 rotates, it will drive the rotating rod 26 to rotate, and then drive the connecting rod 36 to move through the connecting piece, so that a parallelogram is formed between the connecting rod 36, the second rotating plate 34 and the electric push rod 29, thereby realizing the flipping of the second rotating plate 34 below.

[0030] The specific structure of the connecting member includes a storage roller 27 that penetrates and rotates in the sliding seat 20, the storage roller 27 is slidably sleeved on the rotating rod 26, the outer wall of the storage roller 27 is fixed and surrounded by a pull rope 28, and the bottom end of the pull rope 28 is fixedly connected to the connecting rod 36. When the rotating rod 26 rotates, the storage roller 27 is driven to rotate, and then the connecting rod 36 is driven to move upward through the pull rope 28.

[0031] In order to drive the first rotating plate 31 to rotate, a rectangular hole 37 is further provided at one end of the first rotating plate 31, and the connecting rod 36 is located in the rectangular hole 37. When the connecting rod 36 moves, the first rotating plate 31 can be driven to turn synchronously.

[0032] In order to prevent the first rotating plate 31 from rotating in the reverse direction during the flipping process, the outer wall of the electric push rod 29 is also fixedly welded with a limiting column 32 for limiting the first rotating plate 31. The limiting column 32 after limiting is inclined, which can limit the flipping direction of the first rotating plate 31.

[0033] In order to facilitate the adjustment of the patient's head position, the present invention also has a fixing seat 11 fixed by bolts on one side of the pillow 2, and two nut blocks 13 are slidably provided in the fixing seat 11. A first bidirectional screw 10 is penetrated and rotatably provided on one side of the fixing seat 11, and the nut block 13 is threadedly sleeved on the first bidirectional screw 10. When the first bidirectional screw 10 rotates, due to the effect of the thread, the two nut blocks 13 will approach or move away from each other along the axial direction of the first bidirectional screw 10. A connecting plate 14 is rotatably provided at the top end of the nut block 13, and the top end of the connecting plate 14 is rotatably connected to the lifting pillow 3. Therefore, when the nut block 13 moves, the lifting pillow 3 will be driven to rise and fall through the connecting plate 14. In order to drive the first bidirectional screw 10 to rotate, a first motor 12 is also fixed by bolts on one side of the fixing seat 11, and the output end of the first motor 12 is fixedly connected to the first bidirectional screw 10.

[0034] In order to prevent the second rotating plate 34 from rotating randomly during the operation, the second rotating plate 34 is connected to the electric push rod 29 via a damping shaft. The damping shaft can provide a certain resistance so that the second rotating plate 34 can remain stable when not affected by external forces.

[0035] Embodiment 2 Reference Figure 1-Figure 9 The present invention provides a new technical solution, a multifunctional micro-robot for accurately positioning cleft lip and palate repair surgery, which also includes a syringe 16 fixedly arranged on one side of an extension frame 5, a disinfection box 15 fixedly arranged at the bottom of the extension frame 5, a first rectangular opening 41 for the electric push rod 29 and the connecting rod 36 to move is opened at the top of the disinfection box 15, and second rectangular openings 42 for the two splints 8 to enter and exit are opened on both sides of the disinfection box 15. Two second sponge blocks 44 and a first sponge block 43 located between the two second sponge blocks 44 are fixedly arranged on the inner wall of one side of the disinfection box 15. When the splint 8 is moved out of the disinfection box 15, the disinfectant water on the surface of the splint 8 can be cleaned by the two second sponge blocks 44 and the first sponge block 43. The outer wall of the syringe 16 is connected to the disinfection box 15 through two pipes, which is used to pump disinfectant into the disinfection box 15; The top of the syringe 16 is connected to a connecting seat 40, on which a solenoid valve is provided. The top of the connecting seat 40 is connected to a containing tube 17 for storing disinfectant. When the disinfectant in the syringe 16 is consumed, the solenoid valve on the connecting seat 40 can be opened, and the disinfectant in the containing tube 17 can be automatically replenished into the syringe 16.

[0036] In order to provide power for the syringe 16, an extension frame 19 is fixedly connected to one side of the sliding seat 20. During the movement of the sliding seat 20, the output end of the syringe 16 can be pushed to move by the extension frame 19. At the same time, a spring 4 extension frame 5 is also provided in the syringe 16. When the extension frame 19 is away from the output end of the syringe 16, the output end of the syringe 16 can be reset and moved under the action of the spring 4 and the extension frame 5.

[0037] The method of using a multifunctional micro robot for precise positioning of cleft lip and palate repair surgery comprises the following steps: S1. First, the patient lies on the bed 1 with his head on the pillow 2, then presses down the support frame 4, presses the limit frame 9 on the head, and fixes the head; S2, then, start the second motor 23 to drive the lifting rod 7 down until the lower clamping plate 8 contacts the lip, and at the same time start the third motor 24 to drive the two sets of clamping plates 8 to move closer to each other until they move to a suitable position; S3, then place the upper lip between the upper and lower clamping plates 8, and at the same time start the electric push rod 29 to retract and drive the lower clamping plate 8 to move upward, and cooperate with the upper clamping plate 8 to clamp the lip; S4, when the two lips need to be brought closer to each other, the third motor 24 is started to drive the two lifting rods 7 to move closer to each other, otherwise they move away from each other; S5. When the lips need to be turned open, the fourth motor 25 is started to drive the connecting rod 36 to move upward, which can drive the two clamping plates 8 to tilt at the same time and drive the lips to turn outward.

[0038] Working principle: First, the patient lies on the bed 1 and places his head on the pillow 2, then presses down the support frame 4, presses the limit frame 9 on the head, and fixes the head; Then, the second motor 23 is started. During the rotation of the second motor 23, the nut ring 21 can be driven to rotate through the two meshing gears 22. The rotation of the nut ring 21 can drive the lifting rod 7 to descend until the clamping plate 8 below contacts the lip. At the same time, the third motor 24 is started. The third motor 24 can drive the second bidirectional screw 38 to rotate. The rotation of the second bidirectional screw 38 can drive the two sliding blocks 39 to move relative to each other, thereby driving the two sets of clamping plates 8 to approach each other until they move to a suitable position. Then place the upper lip between the upper and lower clamping plates 8, and start the electric push rod 29 to retract at the same time. The retraction of the electric push rod 29 can drive the lower second rotating plate 34 to move upward, and can drive the lower clamping plate 8 to move upward, and cooperate with the upper clamping plate 8 to clamp the lip. The upward movement of the lower second rotating plate 34 can drive the sliding ring 30 to move upward through the connecting rod 35, and can drive the upper second rotating plate 34 to move upward synchronously. When the two lips need to be brought closer to each other, the third motor 24 is started to drive the second bidirectional screw 38 to rotate. The rotation of the second bidirectional screw 38 can drive the two sliding blocks 39 to move relative to each other, and can drive the two lifting rods 7 to move closer to each other, or vice versa. When the lips need to be turned up, the fourth motor 25 is started to drive the rotating rod 26 to rotate. The rotating rod 26 can reel in the pull rope 28 through the storage roller 27, so that the bottom end of the pull rope 28 moves upward, which can drive the connecting rod 36 to move upward. The upward movement of the connecting rod 36 can drive the second rotating plate 34 to tilt upward, and at the same time, the first rotating plate 31 can be driven to tilt upward through the connecting rod 36, so that the two clamping plates 8 can be driven to tilt at the same time, driving the lips to turn outward; After use, the second motor 23 and the third motor 24 are started again to drive the splint 8 to move into the disinfection box 15. When the extension frame 19 releases the output end of the syringe 16, the disinfectant in the syringe 16 can be squeezed out. When the splint 8 moves into the disinfection box 15, the disinfectant in the disinfection box 15 just immerses the upper splint 8, so the two groups of splints 8 can be disinfected. During the removal process, the disinfectant water can be wiped off by the first sponge block 43 and the second sponge block 44, and the output end of the syringe 16 can be reset and moved under the action of the spring. During the reset and movement of the syringe 16, the disinfectant in the disinfection box 15 can be sucked into the syringe 16 again through the pipeline. When the disinfectant in the syringe 16 is less, the containing tube 17 can automatically replenish the disinfectant.

[0039] However, as is well known to those skilled in the art, the working principles and wiring methods of the display 6, the first motor 12, the second motor 23, the third motor 24 and the fourth motor 25 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art can make any optional selections according to their needs or convenience.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A multifunctional micro robot for precise positioning of cleft lip and palate repair surgery, characterized in that: The invention comprises a pillow (2) arranged at one end of a bed body (1), a support frame (4) being damped and plugged on the pillow (2), an extension block (5) being fixedly provided on one side of the support frame (4), a display (6) being provided on the extension block (5), a connecting frame (18) being fixedly provided on one side of the extension block (5), two lifting rods (7) being adjustable on the connecting frame (18), an electric push rod (29) being fixedly provided at the bottom end of the lifting rod (7), and a clamping plate (8) for clamping lips being provided on the outer wall of the electric push rod (29) and the output end of the electric push rod (29); A first driving member, disposed on the connecting frame (18) and used for driving the two lifting rods (7) to move toward and away from each other; A second driving member is disposed on the connecting frame (18) and is used to drive the lifting rod (7) to move up and down to lift the lips, thereby providing space for surgical suturing; A turning mechanism, arranged on the electric push rod (29), is used to turn the inside of the lip outward to provide space for suturing the inside of the lip; A lifting pillow (3) is arranged on one side of a pillow (2) in a liftable manner and is located on the neck of a patient, and is used to lift the neck of the patient so that the head can be tilted back.

2. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 1, characterized in that: The first driving member comprises two sliding blocks (39) slidably arranged in the connecting frame (18); the lifting rod (7) is slidably arranged in the corresponding sliding blocks (39); a second bidirectional screw (38) is rotatably arranged through one side of the connecting frame (18); the sliding block (39) is threadedly sleeved on the second bidirectional screw (38); a third motor (24) is fixedly arranged on one side of the connecting frame (18); and an output end of the third motor (24) is fixedly connected to the second bidirectional screw (38).

3. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 2, characterized in that: The second driving member comprises a sliding seat (20) fixedly arranged on the top of the sliding block (39), a second motor (23) being fixedly arranged on the top of the sliding seat (20), a nut ring (21) being threadedly sleeved on the outer wall of the lifting rod (7), the nut ring (21) being rotatably arranged on the top of the sliding seat (20), and a meshing gear (22) being fixedly sleeved on the outer wall of the nut ring (21) and the output end of the second motor (23).

4. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 2, characterized in that: The flipping mechanism comprises a first rotating plate (31) rotatably sleeved on the outer wall of the electric push rod (29); the outer wall of the electric push rod (29) is slidably sleeved with a sliding ring (30); the outer wall of the sliding ring (30) and the output end of the electric push rod (29) are both rotatably sleeved with a second rotating plate (34); the two clamping plates (8) are respectively fixedly connected to the corresponding second rotating plate (34) and the first rotating plate (31); the output end of the electric push rod (29) is fixedly provided with a connecting rod (35); the top end of the connecting rod (35) is fixedly connected to the sliding ring (30); one end of the two second rotating plates (34) is rotatably provided with a same connecting rod (36); one side of the connecting frame (18) is rotatably provided with a rotating rod (26); one side of the connecting frame (18) is fixedly provided with a fourth motor (25); the output end of the fourth motor (25) is fixedly connected to the rotating rod (26); the top end of the connecting rod (36) is connected to the rotating rod (26) through a connecting piece, and is used to drive the lower clamping plate (8) to flip.

5. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 4, characterized in that: The connecting member comprises a storage roller (27) which penetrates and rotates in the sliding seat (20); the storage roller (27) is slidably sleeved on the rotating rod (26); a pull rope (28) is fixed to and wound around the outer wall of the storage roller (27); and the bottom end of the pull rope (28) is fixedly connected to the connecting rod (36).

6. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 4, characterized in that: A rectangular hole (37) is formed at one end of the first rotating plate (31), and the connecting rod (36) is located in the rectangular hole (37) and is used to drive the first rotating plate (31) to flip.

7. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 6, characterized in that: A limiting column (32) for limiting the position of the first rotating plate (31) is fixedly provided on the outer wall of the electric push rod (29); the limiting column (32) is inclined after being limited.

8. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 1, characterized in that: A fixing seat (11) is fixedly provided on one side of the pillow (2), two nut blocks (13) are slidably provided in the fixing seat (11), a first bidirectional screw (10) is rotatably provided through one side of the fixing seat (11), the nut block (13) is threadedly sleeved on the first bidirectional screw (10), a connecting plate (14) is rotatably provided on the top end of the nut block (13), the top end of the connecting plate (14) is rotatably connected to the lifting pillow (3), a first motor (12) is fixedly provided on one side of the fixing seat (11), and an output end of the first motor (12) is fixedly connected to the first bidirectional screw (10).

9. The multifunctional micro robot for accurate positioning of cleft lip and palate repair surgery according to claim 7, characterized in that: The second rotating plate (34) and the electric push rod (29) are connected via a damping shaft to prevent the second rotating plate (34) from rotating randomly.

10. A method for using a multifunctional microrobot for accurate positioning of cleft lip and palate repair surgery, applied to the multifunctional microrobot for accurate positioning of cleft lip and palate repair surgery as described in any one of claims 1 to 9, characterized in that: Including the following steps: S1. First, the patient lies on the bed (1) with the head on the pillow (2), and then the support frame (4) is pressed downward to press the limit frame (9) onto the head to fix the head; S2, then, starting the second motor (23) to drive the lifting rod (7) to descend until the lower clamping plate (8) contacts the lip, and at the same time starting the third motor (24) to drive the two sets of clamping plates (8) to move closer to each other until they are moved to a suitable position; S3, then place the upper lip between the upper and lower clamping plates (8), and at the same time start the electric push rod (29) to retract and drive the lower clamping plate (8) to move upward, and cooperate with the upper clamping plate (8) to clamp the lip; S4, when the two lips need to be brought closer together, the third motor (24) is started to drive the two lifting rods (7) to move closer together, otherwise they move away from each other; S5. When the lips need to be turned open, the fourth motor (25) is started to drive the connecting rod (36) to move upward, which can drive the two clamping plates (8) to tilt at the same time, thereby driving the lips to turn outward.

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