Surgical robot and bone grinding device thereof

Abstract

The invention provides a surgical robot and a bone grinding device thereof, and the bone grinding device comprises a fixing support which forms a containing space; the movable part is arranged in the accommodating space; the guide assembly is connected with the fixed support, and the guide assembly penetrates through the movable part to limit the moving direction of the movable part; the vibration reduction assembly is connected between the fixed support and the movable part; the bone grinding drill bit is connected with the movable part, and the bone grinding drill bit extends out of the containing space from the end, not connected with the vibration reduction assembly, of the fixed support. According to the bone grinding device, reliable cooperation of multiple functional structures can be achieved, the vibration reduction assembly can reduce the influence of vibration interference of the bone grinding drill bit on the operation precision, the operation safety can be improved, and the operation risk is reduced.

Description

Technical Field

[0001] The present disclosure generally relates to the field of medical device technology, and more specifically, to a surgical robot and a bone grinding device thereof. Background Art

[0002] The spine is an important supporting structure of the human body and plays a key role in maintaining the body's stability and flexibility. However, due to accidents (such as traffic accidents, falls) or certain diseases (such as herniated disc, scoliosis), patients may suffer varying degrees of spinal injuries and neurological dysfunction, which seriously affect their quality of life and mobility. Traditional spinal surgery mainly relies on the doctor's experience and surgical techniques, but during the operation, the doctor faces the challenges of complex operations and high precision requirements. At the same time, the operation is time-consuming and risky, and may not achieve the ideal treatment effect.

[0003] Compared with manual operation, the mechanized operation of surgical robots has higher operating accuracy and can reduce the physical burden of doctors, so it has good application prospects. However, how to fully improve its operating safety and reduce surgical risks is still a topic that needs continuous improvement. Summary of the invention

[0004] The present disclosure provides a bone grinding device for a surgical robot, which is used to solve at least one of the above problems.

[0005] According to a first aspect of an embodiment of the present disclosure, a bone grinding device for a surgical robot is provided, comprising: a fixed bracket, the fixed bracket configuring a housing space; a movable part, arranged in the housing space; a guide assembly, connected to the fixed bracket, the guide assembly passes through the movable part to limit the moving direction of the movable part; a vibration damping assembly, connected between the fixed bracket and the movable part; and a bone grinding drill bit, connected to the movable part, the bone grinding drill bit extending out of the housing space from an end of the fixed bracket that is not connected to the vibration damping assembly.

[0006] Optionally, the bone grinding device also includes: a force sensor, arranged at the connection between the fixed bracket and the mechanical arm of the surgical robot, for detecting the pressure applied to the fixed bracket by the mechanical arm; a displacement sensor, arranged between the movable part and the fixed bracket, for detecting the displacement of the movable part relative to the fixed bracket; an acceleration sensor, connected to the movable part, for detecting the vibration of the movable part.

[0007] Optionally, the displacement sensor is located on a side of the movable member facing away from the vibration reduction assembly.

[0008] Optionally, the guide assembly includes a guide shaft, and both ends of the guide shaft are connected to the fixed bracket.

[0009] Optionally, the guide assembly also passes through the vibration reduction assembly.

[0010] Optionally, the vibration reduction assembly includes two elastic member connectors and an elastic member connected between the two elastic member connectors.

[0011] Optionally, the guide assembly further includes a guide bearing, which is used to support the guide shaft, and the guide bearing is embedded in the elastic member connector.

[0012] Optionally, the bone grinding device further comprises: a washer located on a side of the movable member facing away from the vibration reduction assembly.

[0013] Optionally, the washer is sleeved on the guide shaft and abuts against the fixing bracket.

[0014] According to a second aspect of an embodiment of the present disclosure, a surgical robot is provided, comprising: a robotic arm; and the above-mentioned bone grinding device, wherein the bone grinding device is connected to the end of the robotic arm.

[0015] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects: According to the surgical robot and the bone grinding device of the embodiments of the present disclosure, a stable accommodation space is constructed by a fixed bracket, and a movable part that moves synchronously with the bone grinding drill, a guide component that limits the moving direction of the movable part, and a vibration reduction component that reduces the vibration of the movable part are arranged by using the accommodation space, which can realize the reliable coordination of multiple functional structures, and the accommodation space can be used to separate different parts of the bone grinding drill, reduce the interference with the stable operation of the bone grinding drill, and improve safety. At the same time, the vibration reduction component can reduce the impact of the vibration interference of the bone grinding drill on the surgical accuracy, and also help to improve the safety of operation and reduce the risk of surgery. Specifically, when the bone grinding device moves to the point where the bone grinding drill contacts the bone tissue, if it continues to be pressed, the bone grinding drill will conflict with the bone tissue, so that the vibration reduction component is in an active state, thereby reducing vibration and ensuring the stability and accuracy of the grinding process.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0018] Figure 1Schematic diagram of the connection relationship between the bone grinding device and the robotic arm according to an exemplary embodiment of the present disclosure.

[0019] Figure 2 is a schematic structural diagram of a bone grinding device according to an exemplary embodiment of the present disclosure.

[0020] Figure 3 is a partial longitudinal cross-sectional view of a guide assembly and a damping assembly according to an exemplary embodiment of the present disclosure.

[0021] Figure 4 is a schematic diagram of a force sensor and a connection structure thereof according to an exemplary embodiment of the present disclosure.

[0022] Figure 5 4 is a schematic diagram of a partial structure of a bone grinding device before being pressed down according to an exemplary embodiment of the present disclosure.

[0023] Figure 6 is a schematic diagram of the partial structure of the bone grinding device after being pressed down according to an exemplary embodiment of the present disclosure.

[0024] Figure 7 is a schematic diagram of sensor circuit connections of a surgical robot according to an exemplary embodiment of the present disclosure.

[0025] Figures 1 to 6 Description of Figure Numbers: 1: bone grinding device; 2: mechanical arm; 10: fixed bracket; 11: top plate; 12: bottom plate; 13: side plate; 20: movable part; 30: guide assembly; 31: guide shaft; 32: guide bearing; 40: vibration reduction assembly; 41: elastic part connector; 42: elastic part; 50: bone grinding drill; 51: support member; 52: drill body; 60: force sensor; 61: mechanical arm flange; 62: device flange; 70: displacement sensor; 80: acceleration sensor; 90: gasket. DETAILED DESCRIPTION

[0026] The following specific embodiments are provided to help the reader obtain a comprehensive understanding of the methods, devices and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be clear. For example, the order of operations described herein is only an example and is not limited to those orders set forth herein, but can be changed as will be clear after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, for greater clarity and simplicity, the description of features known in the art may be omitted.

[0027] The features described herein can be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and / or systems described herein, which will be clear after understanding the disclosure of the present application.

[0028] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more.

[0029] Although terms such as "first", "second", and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions should not be limited by these terms. Instead, these terms are only used to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Therefore, without departing from the teachings of the examples described herein, the first member, first component, first region, first layer, or first portion referred to in the examples may also be referred to as the second member, second component, second region, second layer, or second portion.

[0030] In the specification, when an element (such as a layer, a region, or a substrate) is described as being “on”, “connected to”, or “coupled to” another element, the element may be directly “on”, “connected to”, or “coupled to” another element, or one or more other elements may be present therebetween. Conversely, when an element is described as being “directly on”, “directly connected to”, or “directly coupled to” another element, there may be no other elements present therebetween.

[0031] The terms used herein are only used to describe various examples and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms "comprise", "include" and "have" indicate the presence of the described features, quantities, operations, components, elements and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements and / or combinations thereof.

[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which the present disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in general dictionaries) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal manner.

[0033] Furthermore, in the description of examples, when it is considered that a detailed description of a well-known related structure or function would cause vague interpretation of the present disclosure, such a detailed description will be omitted.

[0034] Hereinafter, a surgical robot and a bone grinding device 1 thereof according to an exemplary embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.

[0035] like Figure 1 and Figure 2 As shown, an embodiment of one aspect of the present disclosure provides a bone grinding device 1 for a surgical robot, the bone grinding device 1 comprising a fixed bracket 10, a movable member 20, a guide assembly 30, a vibration reduction assembly 40 and a bone grinding drill 50. The fixed bracket 10 is configured with a receiving space; the movable member 20 is arranged in the receiving space; the guide assembly 30 is connected to the fixed bracket 10, and the guide assembly 30 passes through the movable member 20 to limit the moving direction of the movable member 20; the vibration reduction assembly 40 is connected between the fixed bracket 10 and the movable member 20; the bone grinding drill 50 is connected to the movable member 20, and the bone grinding drill 50 extends out of the receiving space from one end of the fixed bracket 10 that is not connected to the vibration reduction assembly 40.

[0036] According to the bone grinding device 1 of the exemplary embodiment of the present disclosure, a stable accommodation space is constructed by fixing the bracket 10, and the accommodation space is used to set the movable part 20 that moves synchronously with the bone grinding drill 50, the guide assembly 30 that limits the moving direction of the movable part 20, and the vibration reduction assembly 40 that reduces the vibration of the movable part 20, so that the reliable coordination of multiple functional structures can be achieved, and the accommodation space can be used to separate different parts of the bone grinding drill 50, reduce the interference with the stable operation of the bone grinding drill 50, and improve safety. At the same time, the vibration reduction assembly 40 can reduce the impact of the vibration interference of the bone grinding drill 50 on the surgical accuracy, and also help to improve the safety of operation and reduce the risk of surgery. Specifically, when the bone grinding device 1 moves to the bone grinding drill 50 and contacts the bone tissue, if it continues to be pressed, the bone grinding drill 50 will conflict with the bone tissue, so that the vibration reduction assembly 40 is in an active state, thereby reducing vibration and ensuring the stability and accuracy of the grinding process.

[0037] As an example, the fixing bracket 10 is Figure 2 As shown, it includes a top plate 11, a bottom plate 12 and a side plate 13, which can form a C-shaped structure, providing a semi-open accommodating space and sufficient support.

[0038] By way of example, the movable member 20 is a movable plate.

[0039] As an example, the bone grinding drill bit 50 includes a supporting member 51 and a drill body 52 connected to each other. The supporting member 51 is connected to the movable member 20 and partially extends out of the accommodating space, while the drill body 52 is completely located outside the accommodating space.

[0040] Next, the bone grinding device 1 according to the exemplary embodiment of the present disclosure is further introduced.

[0041] Alternatively, if Figure 2 and Figure 3 As shown, the guide assembly 30 includes a guide shaft 31, and both ends of the guide shaft 31 are connected to the fixed bracket 10. By using the guide shaft 31, it is convenient to achieve the smooth movement of the guide and movable member 20, and at the same time, connecting both ends of the guide shaft 31 to the fixed bracket 10 can make the connection of the guide shaft 31 itself more stable, thereby playing a more reliable guiding role.

[0042] Alternatively, if Figure 2 As shown, the guide assembly 30 also passes through the vibration reduction assembly 40 , and the vibration reduction stability can be improved by using the guide assembly 30 inside the vibration reduction assembly 40 .

[0043] Alternatively, if Figure 2 As shown, the vibration reduction assembly 40 includes two elastic member connectors 41 and an elastic member 42 connected between the two elastic member connectors 41. By specifically using the elastic member 42 to achieve elastic vibration reduction, an efficient vibration reduction effect can be achieved. At the same time, the elastic member connectors 41 are arranged at both ends of the elastic member 42 to ensure the reliable positioning of the elastic member 42. Specifically, when the bone grinding drill 50 contacts the bone tissue, the elastic member 42 will shrink accordingly, thereby utilizing the elastic force to reduce vibration. As an example, the elastic connector may be stepped, thereby utilizing the step surfaces of the two elastic connectors facing each other to contact the elastic member 42.

[0044] Alternatively, if Figure 3 As shown, the guide assembly 30 also includes a guide bearing 32, which is used to support the guide shaft 31, and the guide bearing 32 is embedded in the elastic member connector 41. The movable member 20 will generate friction when moving up and down. By providing the guide bearing 32, the friction can be greatly reduced, the overall structure is optimized, and the tool can be guaranteed to move smoothly along the length direction of the guide shaft 31. In addition, the guide assembly 30 passes through the vibration reduction assembly 40, and thus can pass through the elastic connector. By installing the guide bearing 32 in the elastic member connector 41, the internal space of the elastic connector can be fully utilized, and the guide bearing 32 is protected from being exposed, which can protect the guide bearing 32 and ensure the reliable operation of the guide assembly 30.

[0045] Alternatively, if Figure 2 As shown, the bone grinding device 1 also includes: a force sensor 60, which is arranged at the connection between the fixed support 10 and the mechanical arm 2 of the surgical robot, and is used to detect the pressure applied to the fixed support 10 by the mechanical arm 2; a displacement sensor 70, which is arranged between the movable part 20 and the fixed support 10, and is used to detect the displacement of the movable part 20 relative to the fixed support 10; an acceleration sensor 80, which is connected to the movable part 20, and is used to detect the vibration of the movable part 20.

[0046] The installation position of the force sensor 60 enables it to detect in real time the pressure (e.g., vertical force) applied to the bone grinding device 1 during the grinding process. Through accurate force feedback, the surgical robot can dynamically adjust the applied pressure to avoid excessive or insufficient force, thereby ensuring the safety and accuracy of the grinding process. As an example, Figure 1 and Figure 4 As shown, the bone grinding device 1 is connected to the end of the mechanical arm 2, and the force sensor 60 is arranged on the top of the fixed bracket 10. The top end thereof is provided with a mechanical arm flange 61 for connecting the mechanical arm 2, and the bottom end thereof is provided with a device flange 62 for connecting the fixed bracket 10. The flange connection structure ensures the stability and operability of the connection. Specifically, when the force sensor 60 detects the vertical force applied by the mechanical arm 2 on the bone grinding device 1, during the grinding process, according to the force analysis, it should be satisfied that the sum of the vertical force detected by the force sensor 60 and the gravity of the bone grinding device 1 (downward force) is equal to the sum of the vibration reduction force of the vibration reduction assembly 40 (such as the elastic force of the elastic member 42) and the grinding pressure of the bone grinding drill 50 (upward force), so that the grinding pressure of the bone grinding drill 50 can be calculated, and the grinding pressure change after the bone grinding drill 50 contacts the bone sample can be recorded, so as to provide accurate real-time feedback for the control of the grinding force, and avoid excessive or too small force affecting the surgical effect.

[0047] The installation position of the displacement sensor 70 enables it to detect the moving distance of the movable part 20 and the bone grinding drill bit 50 relative to the fixed bracket 10, so the pressing depth of the tool can be calculated in combination with the actual position of the fixed bracket 10, thereby realizing real-time monitoring of the pressing depth of the tool and providing accurate displacement data to control the depth and range of grinding.

[0048] The installation position of the acceleration sensor 80 (eg Figure 2 The vibration reduction assembly 40 is installed on the left side of the movable member 20 as shown in the figure, so that it can monitor the vibration state of the tool during the grinding process. By analyzing the acceleration signal, the system can identify the cutting state of different bones and adjust the grinding strategy. In addition, since the vibration reduction assembly 40 can reduce the vibration impact during the cutting process, it helps to ensure the stability and accuracy of the data acquisition of the acceleration sensor 80.

[0049] By configuring the above sensors for the bone grinding device 1, key parameters such as the interaction force between the tool and the bone tissue, the grinding depth, and the tool vibration during the operation can be collected, the multi-source data collection during bone grinding can be improved, and the multi-dimensional information collection during the operation can be realized, providing hardware support for establishing a multimodal data set of the grinding state. The collected data can be used to estimate the change in grinding depth and the transmission path of the vibration of the bone grinding drill 50, providing a basis for optimizing mechanical design and surgical stability. The coordinated measurement of force and acceleration can also be used to compensate for system disturbances. The force sensor 60 records the force generated during the grinding process, and the acceleration sensor 80 captures the dynamic changes during the motion process. Through collaborative analysis, these data can be used to estimate the friction force in the system, the nonlinear response of the elastic member 42, and the influence of other dynamic disturbances on the grinding effect, thereby providing support for subsequent force compensation algorithms and dynamic optimization control. These data can also be used for subsequent machine deep learning, and through deep learning algorithms, they are analyzed and trained to achieve intelligent learning and precise control of lamina grinding operations, thereby improving the safety, efficiency and accuracy of the operation, and laying a solid foundation for the automation, intelligence and multimodal fusion perception of the operation. In addition, the installation position of the above sensors can be easily integrated with the aforementioned fixed bracket 10, movable part 20 and other structures to form a compact structure with good scalability.

[0050] Alternatively, if Figure 2 As shown, the displacement sensor 70 is located on the side of the movable member 20 away from the vibration reduction assembly 40. Since the vibration reduction assembly 40 has a certain size as a whole and needs to occupy a large space, the movable member 20 is away from the side of the vibration reduction assembly 40 (for example Figure 2 By arranging the displacement sensor 70 on this side, the relative change between two measurement results can be made larger during the movement of the movable member 20, which helps to improve the measurement accuracy.

[0051] Alternatively, if Figure 5 and Figure 6 As shown, the bone grinding device 1 also includes: a washer 90, which is located on the side of the movable part 20 away from the vibration reduction assembly 40. The vibration reduction assembly 40 can be used to limit one side of the movable part 20. By providing a washer 90 on the other side of the movable part 20 (i.e., the side away from the vibration reduction assembly 40), the other side can also be limited, thereby achieving comprehensive limitation at both ends of its moving direction, thereby ensuring the safety of the bone grinding device 1. In addition, for the embodiment in which the displacement sensor 70 is located on the side of the movable part 20 away from the vibration reduction assembly 40, the washer 90 can also be supported between the fixed bracket 10 and the movable plate to prevent the displacement sensor 70 from being damaged due to pressure, thereby protecting the displacement sensor 70. Specifically, Figure 5 and Figure 6 The states of the bone grinding device 1 before and after pressing down are shown respectively. Figure 5 As shown, at this time, the movable member 20 is in contact with the washer 90, and after being pressed down, the bone grinding drill 50 and the movable member 20 are moved upward by the reaction force of the bone tissue, and the elastic member 42 is compressed.

[0052] Optionally, the washer 90 is sleeved on the guide shaft 31 and abuts against the fixed bracket 10, which can improve the stability of the washer 90. Such a structure also integrates the guiding function and the limiting function of the movable part 20, thereby improving the reliability of the overall structure.

[0053] like Figure 1 As shown, the embodiment of the second aspect of the present disclosure provides a surgical robot, comprising: a robotic arm 2; and the above-mentioned bone grinding device 1, the bone grinding device 1 is connected to the end of the robotic arm 2, and thus has all the beneficial technical effects of the above-mentioned bone grinding device 1, which will not be repeated here. As an example, the robotic arm 2 can adopt a robotic arm of model UR5 produced by Universal Robots.

[0054] In general, the working principle of the exemplary embodiment of the present disclosure is to fix the bone grinding device 1 at the end of the mechanical arm 2. The bone grinding device 1 mainly includes a sensor system such as a bone grinding drill 50, a vibration reduction assembly 40, a force sensor 60, a displacement sensor 70 and an acceleration sensor 80. During operation, the bone grinding drill 50 fixed on the movable part 20 rotates and starts grinding, the mechanical arm 2 moves downward, and the bone grinding drill 50 contacts the bone sample to generate a grinding process. The reaction force on the bone grinding drill 50 causes the movable part 20 to move upward. The displacement sensor 70 measures the displacement distance of the movable part 20 and calculates the compression amount of the elastic part 42 to reflect the change in grinding depth. At the same time, the acceleration sensor 80 records the vibration data when the mechanical arm 2 moves and the bone grinding drill 50 contacts the bone sample, providing a reference for the vibration frequency and intensity during the grinding process to ensure the stability of the operation. The force sensor 60 is connected to the robot arm 2 via a flange to record the change in cutting force after the bone grinding drill 50 contacts the bone sample, providing accurate real-time feedback for the control of the grinding force to prevent excessive or insufficient force from affecting the surgical effect.

[0055] In order to achieve the above functions, the UR5 robot arm can be used as the mobile platform of the bone grinding device 1, and the robot arm 2 can be controlled in real time through the ur_rtde library. The path planning and speed adjustment of the robot arm 2 are completed by calling the ur_rtde library through the python program. Figure 7As shown, when working, the host computer runs the python program to control the robot arm 2, instructing the robot arm 2 to move the bone grinding device 1 according to the predetermined trajectory, so that the bone grinding drill 50 contacts the bone sample and completes the grinding process. The displacement, acceleration and force data synchronously collected by the sensor are processed by the ADC (Analog-to-Digital Converter) module, and then transmitted to the microcontroller using the SPI (Serial Peripheral Interface) communication protocol, for example, it can be transmitted to the STM32 microcontroller, and then transmitted to the host computer in real time by the microcontroller (for example, through serial port communication). Combined with these data, bone tissue characteristics, grinding status and system dynamic disturbances can be evaluated, providing high-quality input for subsequent data analysis and deep learning.

[0056] By combining the high flexibility of the UR5 robotic arm and the real-time control capability of the ur_rtde library, the multi-sensor fusion design according to the exemplary embodiment of the present disclosure realizes real-time monitoring and precise control of the grinding process, laying the foundation for the intelligent and automated operation of the surgical robot under complex bone tissue conditions. The data of the three sensors are collected and transmitted to the data processing module at the same time, and the regular changes in the grinding process can be identified through comprehensive analysis. The processed data is used for neural network training, so that the system can optimize the grinding strategy through deep learning and improve the autonomous decision-making ability and operation accuracy of the surgical robot. The multi-sensor fusion design ensures real-time monitoring and control of the grinding process, and can adjust the operation strategy according to the grinding state of different bones, providing guarantee for precise grinding of spinal surgery.

[0057] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0058] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A bone grinding device (1) for a surgical robot, characterized in that: include: A fixed bracket (10), wherein the fixed bracket (10) forms a receiving space; A movable member (20) is arranged in the accommodation space; A guide assembly (30) connected to the fixed bracket (10), the guide assembly (30) passing through the movable member (20) to limit the moving direction of the movable member (20); a vibration reduction assembly (40) connected between the fixed support (10) and the movable member (20); and A bone grinding drill bit (50) is connected to the movable member (20), and the bone grinding drill bit (50) extends out of the accommodation space from an end of the fixed bracket (10) that is not connected to the vibration reduction assembly (40).

2. The bone grinding device (1) according to claim 1, characterized in that: Also includes: a force sensor (60), disposed at a connection between the fixed support (10) and the mechanical arm (2) of the surgical robot, and used for detecting the pressure applied by the mechanical arm (2) to the fixed support (10); a displacement sensor (70), disposed between the movable member (20) and the fixed support (10), and used for detecting the displacement of the movable member (20) relative to the fixed support (10); An acceleration sensor (80) is connected to the movable part (20) and is used to detect vibration of the movable part (20).

3. The bone grinding device (1) according to claim 2, characterized in that: The displacement sensor (70) is located on a side of the movable member (20) facing away from the vibration reduction assembly (40).

4. The bone grinding device (1) according to any one of claims 1 to 3, characterized in that: The guide assembly (30) comprises a guide shaft (31), and both ends of the guide shaft (31) are connected to the fixed bracket (10).

5. The bone grinding device (1) according to claim 4, characterized in that: The guide assembly (30) also passes through the vibration reduction assembly (40).

6. The bone grinding device (1) according to claim 5, characterized in that: The vibration reduction assembly (40) comprises two elastic member connecting heads (41) and an elastic member (42) connected between the two elastic member connecting heads (41).

7. The bone grinding device (1) according to claim 6, characterized in that: The guide assembly (30) further comprises a guide bearing (32), wherein the guide bearing (32) is used to support the guide shaft (31), and the guide bearing (32) is embedded in the elastic member connecting head (41).

8. The bone grinding device (1) according to claim 4, characterized in that: Also includes: A washer (90) is located on a side of the movable member (20) facing away from the vibration reduction assembly (40).

9. The bone grinding device (1) according to claim 8, characterized in that: The washer (90) is sleeved on the guide shaft (31) and is in contact with the fixing bracket (10).

10. A surgical robot, characterized in that: include: Robotic arms (2); and The bone grinding device (1) according to any one of claims 1 to 9, wherein the bone grinding device (1) is connected to the end of the robotic arm (2).

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