Surgical robot and bone milling device therefor

Abstract

The present disclosure provides a surgical robot and a bone grinding device thereof. The bone grinding device comprises a fixed support configured to define a receiving space, a movable piece arranged in the receiving space, a guide assembly connected to the fixed support and penetrating through the movable piece to define a moving direction of the movable piece, a damping assembly connected between the fixed support and the movable piece, and a bone grinding drill bit connected to the movable piece and extending out of the receiving space from an end of the fixed support not connected to the damping assembly. The bone grinding device can realize reliable cooperation of multiple functional structures, the damping assembly can reduce the influence of vibration interference of the bone grinding drill bit on the surgical precision, and also helps to improve the operation safety and reduce the surgical risk.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical devices generally, and more particularly, to a surgical robot and a bone grinding device thereof. BACKGROUND

[0002] The spine is an important support structure of the human body, playing a key role in maintaining the stability and flexibility of the body. However, due to accidents (such as traffic accidents, falls) or certain diseases (such as herniated intervertebral disc, scoliosis), patients may have varying degrees of spinal injury and nerve dysfunction, which seriously affects their quality of life and mobility. Traditional spinal surgery mainly relies on the experience and surgical techniques of doctors, but during the operation, doctors face the challenges of complex operation and high precision requirements, and the operation process is time-consuming and risky, which may not achieve the desired therapeutic effect.

[0003] Compared with manual operation, the mechanical operation of a surgical robot has higher operation precision and can reduce the physical burden of doctors, thus having good application prospects. However, how to fully improve the operation safety and reduce the risk of surgery is still a subject that needs continuous improvement. SUMMARY

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

[0005] According to a first aspect of the embodiments of the present disclosure, a bone grinding device for a surgical robot is provided, comprising: a fixed support, which is configured to form an accommodation space; a movable piece, which is arranged in the accommodation space; a guide assembly, which is connected with the fixed support, and the guide assembly penetrates through the movable piece to define the moving direction of the movable piece; a damping assembly, which is connected between the fixed support and the movable piece; and a bone grinding drill bit, which is connected with the movable piece, and the bone grinding drill bit extends out of the accommodation space from an end of the fixed support which is not connected with the damping assembly.

[0006] Optionally, the bone grinding device further comprises: a force sensor, which is arranged at the connection between the fixed support and the mechanical arm of the surgical robot, and is used to detect the pressure applied by the mechanical arm to the fixed support; a displacement sensor, which is arranged between the movable piece and the fixed support, and is used to detect the displacement of the movable piece relative to the fixed support; and an acceleration sensor, which is connected with the movable piece, and is used to detect the vibration of the movable piece.

[0007] Optionally, the displacement sensor is located on the side of the movable piece away from the damping assembly.

[0008] Optionally, the guide assembly comprises a guide shaft, both ends of the guide shaft being connected with the fixing support.

[0009] Optionally, the guide assembly further passes through the damping assembly.

[0010] Optionally, the damping assembly comprises two elastic member connectors and an elastic member connected between the two elastic member connectors.

[0011] Optionally, the guide assembly further comprises a guide bearing for supporting the guide shaft, the guide bearing being embedded in the elastic member connector.

[0012] Optionally, the bone grinding device further comprises a gasket on the side of the movable member away from the damping assembly.

[0013] Optionally, the gasket is sleeved on the guide shaft and attached to the fixing support.

[0014] According to a second aspect of the embodiments of the present disclosure, a surgical robot is provided, comprising a mechanical arm and the bone grinding device as described above, the bone grinding device being connected to the end of the mechanical arm.

[0015] The embodiments of the present disclosure provide at least the following beneficial effects: the surgical robot and the bone grinding device thereof according to the embodiments of the present disclosure construct a stable accommodating space through the fixing support, and use the accommodating space to set the movable member moving synchronously with the bone grinding drill bit, the guide assembly limiting the moving direction of the movable member, and the damping assembly damping the movable member, so as to realize reliable cooperation of multiple functional structures, and separate different parts of the bone grinding drill bit by using the accommodating space, reduce the interference with the stable work of the bone grinding drill bit, and improve the safety. Meanwhile, the damping assembly can reduce the influence of the vibration interference of the bone grinding drill bit on the surgical precision, and also helps to improve the operation safety and reduce the surgical risk. Specifically, when the bone grinding device moves to the state that the bone grinding drill bit contacts the bone tissue, if the pressing continues, the bone grinding drill bit will be in conflict with the bone tissue, so that the damping assembly is in the working state, thereby reducing the vibration and ensuring the stability and accuracy of the grinding process.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings incorporated into the specification and forming a part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure, and do not constitute an improper limitation on the present disclosure.

[0018] Figure 1Fig. 1 is a schematic view of a connection relationship between a bone grinding device and a mechanical arm according to an exemplary embodiment of the present disclosure.

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

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

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

[0022] Figure 5 Fig. 5 is a partial structure schematic view of a bone grinding device before pressing down according to an exemplary embodiment of the present disclosure.

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

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

[0025] Figures 1 to 6 BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 1: bone grinding device; 2: mechanical arm; 10: fixed support; 11: top plate; 12: bottom plate; 13: side plate; 20: movable piece; 30: guide assembly; 31: guide shaft; 32: guide bearing; 40: damping assembly; 41: elastic piece connector; 42: elastic piece; 50: bone grinding drill bit; 51: support piece; 52: drill bit body; 60: force sensor; 61: mechanical arm flange; 62: device flange; 70: displacement sensor; 80: acceleration sensor; 90: gasket. DETAILED DESCRIPTION

[0027] The following detailed description is provided to help the reader obtain a thorough understanding of the methods, devices, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, devices, and / or systems described herein will be clear to those skilled in the art after understanding the disclosure provided herein. For example, the order of the operations described herein is merely an example, and is not limited to those set forth herein, but can be changed as will be clear to those skilled in the art after understanding the disclosure provided herein, except for operations that must occur in a specific order. In addition, the description of features known in the art can be omitted for the sake of clarity and conciseness.

[0028] The features described herein can be implemented in different forms and should not be construed as limited to the examples described herein. Rather, these described examples have been provided as an example of carrying out the methods described herein, devices, and / or systems described herein, some of the many possible ways of implementing these methods, devices, and / or systems as will be apparent after an understanding of the disclosure.

[0029] As used herein, the term "and / or" includes any one of the associated listed items, as well as any combination of any two or more of the associated listed items.

[0030] Although terms such as "first", "second", and "third" can be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, the first element, first component, first region, first layer or first section referred to in the examples described herein can also be called a second element, second component, second region, second layer or second section without departing from the teachings of the examples.

[0031] In the description, when an element such as a layer, a region, or a substrate is described as "on" another element, "connected to" or "coupled to" another element, it can be "directly on" the other element, "directly connected to" or "directly coupled to" the other element, or one or more other elements can be interposed therebetween. In contrast, when an element is described as being "directly on" another element, "directly connected to" or "directly coupled to" another element, no other element is interposed therebetween.

[0032] The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has", "having" as used herein, specify the presence of stated features, numbers, operations, components, elements, and / or groups thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, components, elements, and / or groups thereof.

[0033] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs after an understanding of the present disclosure. Unless specifically defined otherwise in the disclosure, terms such as those defined in a generally used dictionary are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the disclosure, and should not be interpreted ideally or overly formally.

[0034] Moreover, in the description of the examples, detailed descriptions of related structures or functions that are considered to be known to those skilled in the art will be omitted in order to avoid obscuring the understanding of the present disclosure.

[0035] Hereinafter, a surgical robot and a bone grinding device 1 thereof according to exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0036] As shown in Figure 1 and Figure 2 , an embodiment of the present disclosure provides a bone grinding device 1 for a surgical robot, which comprises a fixed support 10, a movable piece 20, a guide assembly 30, a damping assembly 40 and a bone grinding drill bit 50. The fixed support 10 is configured to form a containing space; the movable piece 20 is arranged in the containing space; the guide assembly 30 is connected to the fixed support 10 and penetrates the movable piece 20 to define the moving direction of the movable piece 20; the damping assembly 40 is connected between the fixed support 10 and the movable piece 20; the bone grinding drill bit 50 is connected to the movable piece 20 and extends out of the containing space from the end of the fixed support 10 which is not connected to the damping assembly 40.

[0037] The bone grinding device 1 according to exemplary embodiments of the present disclosure forms a stable containing space through the fixed support 10, and uses the containing space to arrange the movable piece 20 which moves synchronously with the bone grinding drill bit 50, the guide assembly 30 which defines the moving direction of the movable piece 20, and the damping assembly 40 which damps the movable piece 20, so as to realize reliable cooperation of multiple functional structures, and separate different parts of the bone grinding drill bit 50 by using the containing space, thereby reducing the interference with the stable operation of the bone grinding drill bit 50 and improving safety. At the same time, the damping assembly 40 can reduce the influence of the vibration interference of the bone grinding drill bit 50 on the surgical precision, which also helps to improve the operation safety and reduce the surgical risk. Specifically, when the bone grinding device 1 moves to the position where the bone grinding drill bit 50 contacts the bone tissue, if the pressing continues, the bone grinding drill bit 50 will be in conflict with the bone tissue, so that the damping assembly 40 is in the active state, thereby reducing the vibration and ensuring the stability and accuracy of the grinding process.

[0038] As an example, the fixed support 10 comprises a top plate 11, a bottom plate 12 and a side plate 13, as shown in Figure 2 , which can form a structure similar to C type, providing a semi-open containing space and sufficient support.

[0039] As an example, the movable piece 20 is a movable plate.

[0040] As an example, the bone grinding drill bit 50 comprises a support piece 51 and a drill bit body 52 connected thereto, the support piece 51 is connected to the movable piece 20 and partially extends out of the containing space, and the drill bit body 52 is completely located outside the containing space.

[0041] Next, the bone grinding device 1 according to the exemplary embodiments of the present disclosure is further described.

[0042] Optionally, as shown in Figure 2 and Figure 3 , the guide assembly 30 includes a guide shaft 31, both ends of which are connected with the fixed support 10. By using the guide shaft 31, the smooth movement of the movable part 20 can be conveniently realized, and the connection of the guide shaft 31 itself can be more stable by connecting both ends of the guide shaft 31 with the fixed support 10, thereby playing a more reliable guiding role.

[0043] Optionally, as shown in Figure 2 , the guide assembly 30 also passes through the damping assembly 40, and the damping stability can be improved by using the guide assembly 30 inside the damping assembly 40.

[0044] Optionally, as shown in Figure 2 , the damping assembly 40 includes two elastic part connectors 41 and an elastic part 42 connected between the two elastic part connectors 41. By using the elastic part 42, elastic damping can be realized, and efficient damping effect can be achieved. At the same time, the elastic part connectors 41 are arranged at both ends of the elastic part 42, which can ensure the reliable positioning of the elastic part 42. Specifically, when the bone grinding drill bit 50 is in contact with the bone tissue, the elastic part 42 will contract, thereby reducing the vibration by using the elastic force. As an example, the elastic connectors can be in a stepped shape, so that the stepped surfaces of the two elastic connectors facing each other are in contact with the elastic part 42.

[0045] Optionally, as shown in Figure 3 , the guide assembly 30 also includes a guide bearing 32 for supporting the guide shaft 31, and the guide bearing 32 is embedded in the elastic part connector 41. When the movable part 20 moves up and down, friction will be generated, and by arranging the guide bearing 32, the friction can be greatly reduced, the overall structure is optimized, and the smooth movement of the tool along the length direction of the guide shaft 31 can be ensured. In addition, the guide assembly 30 passes through the damping assembly 40, so it can pass through the elastic connector. By installing the guide bearing 32 in the elastic part connector 41, the internal space of the elastic connector can be fully utilized, the guide bearing 32 is protected from being exposed, and the guide bearing 32 is protected, thereby ensuring the reliable work of the guide assembly 30.

[0046] Optionally, as shown in Figure 2 , the bone grinding device 1 further includes: a force sensor 60 arranged at the connection between the fixed support 10 and the mechanical arm 2 of the surgical robot, for detecting the pressure applied by the mechanical arm 2 to the fixed support 10; a displacement sensor 70 arranged between the movable part 20 and the fixed support 10, for detecting the displacement of the movable part 20 relative to the fixed support 10; and an acceleration sensor 80 connected with the movable part 20, for detecting the vibration of the movable part 20.

[0047] The mounting 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 precise force feedback, the surgical robot can dynamically adjust the applied pressure, avoiding excessive or insufficient force and ensuring the safety and accuracy of the grinding process. As an example, such as... Figure 1 and Figure 4 As shown, the bone grinding device 1 is connected to the end of the robotic arm 2. The force sensor 60 is located at the top of the fixed bracket 10, with a robotic arm flange 61 at its top for connecting the robotic arm 2 and a device flange 62 at its bottom 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 robotic arm 2 to the bone grinding device 1, during the grinding process, according to the force analysis, the sum of the vertical force detected by the force sensor 60 and the weight of the bone grinding device 1 (downward force) should be equal to the sum of the damping force of the damping component 40 (e.g., the elastic force of the elastic element 42) and the grinding pressure of the bone grinding drill bit 50 (upward force). This allows the calculation of the grinding pressure of the bone grinding drill bit 50 and the recording of the grinding pressure change after the bone grinding drill bit 50 contacts the bone sample, providing precise real-time feedback for controlling the grinding force and avoiding excessive or insufficient force from affecting the surgical outcome.

[0048] The installation position of the displacement sensor 70 enables it to detect the movement distance of the movable part 20 and the bone grinding drill bit 50 relative to the fixed bracket 10. Therefore, the cutting depth can be calculated by combining the actual position of the fixed bracket 10, thereby realizing real-time monitoring of the cutting depth and providing accurate displacement data to control the depth and range of grinding.

[0049] The mounting location of the accelerometer 80 (e.g.) Figure 2 The component 40 (mounted on the left side of the movable part 20) enables it to monitor the vibration state of the tool during grinding. By analyzing the acceleration signal, the system can identify the cutting state of different bone types, thereby adjusting the grinding strategy. Furthermore, since the vibration damping component 40 can reduce the vibration impact during the cutting process, it helps to ensure the stability and accuracy of the data acquisition from the acceleration sensor 80.

[0050] By configuring the bone grinding device 1 with the above sensors, the interaction force between the cutter and the bone tissue, the grinding depth, and the cutter vibration during the operation can be collected, the multi-source data collection during the grinding is improved, the multi-dimensional information collection during the operation is realized, and the hardware support for establishing the multi-modal data set of the grinding state is provided. The collected data can be used to estimate the grinding depth change and the transmission path of the grinding drill bit 50 vibration, and provide a basis for optimizing the mechanical design and the operation stability. The collaborative measurement of force and acceleration can also be used to compensate for system disturbances. The force sensor 60 records the force generated during grinding, and the acceleration sensor 80 captures the dynamic changes during movement. Through collaborative analysis of these data, the influence of friction in the system, the nonlinear response of the elastic member 42, and other dynamic disturbances on the grinding effect can be estimated, thereby providing support for subsequent force compensation algorithms and dynamic optimization control. These data can also be used for subsequent machine depth learning, and through deep learning algorithms for analysis and training, intelligent learning and precise control of the lamina grinding operation are realized, thereby improving the safety, efficiency, and precision of the operation, and laying a solid foundation for the automation, intelligence, and multi-modal fusion perception of the operation. In addition, the installation positions of the above sensors are easy to integrate with the fixed support 10, the movable member 20, and other structures as described above, a compact structure can be formed, and good expandability is achieved.

[0051] Optionally, as shown in Figure 2 , the displacement sensor 70 is located on the side of the movable member 20 away from the damping assembly 40. Since the damping assembly 40 as a whole has a certain size, it needs to occupy a larger space, so the side of the movable member 20 away from the damping assembly 40 (for example, the lower side in Figure 2 ) has a smaller relative distance. By setting the displacement sensor 70 on this side, the relative change between two measurement results during movement of the movable member 20 can be larger, which helps to improve the measurement accuracy.

[0052] Optionally, as shown in Figure 5 and Figure 6 , the bone grinding device 1 further comprises a gasket 90 located on the side of the movable member 20 away from the damping assembly 40. One side of the movable member 20 can be limited by the damping assembly 40, and by setting the gasket 90 on the other side (i.e., the side away from the damping assembly 40) of the movable member 20, the other side can also be limited, thereby achieving comprehensive limitation at both ends of the movement direction, ensuring the safety of the bone grinding device 1. In addition, for embodiments in which the displacement sensor 70 is located on the side of the movable member 20 away from the damping assembly 40, the gasket 90 can also be supported between the fixed support 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 respectively show the state of the bone grinding device 1 before and after pressing down, asFigure 5 As shown, at this time, the movable piece 20 is in contact with the gasket 90, and after being pressed down, the bone drill bit 50 and the movable piece 20 are moved upward by the reaction force of the bone tissue, and the elastic piece 42 is compressed.

[0053] Optionally, the gasket 90 is sleeved on the guide shaft 31 and attached to the fixed support 10, which can improve the setting stability of the gasket 90. Such a structure also integrates the guiding and limiting effects of the movable piece 20, improving the reliability of the overall structure.

[0054] As shown in the drawings, Figure 1 As shown, the second aspect of the embodiment of the present disclosure provides a surgical robot, which comprises a mechanical arm 2 and the bone grinding device 1 described above, and the bone grinding device 1 is connected to the end of the mechanical arm 2, thus having all the beneficial technical effects of the bone grinding device 1 described above, which will not be repeated here. As an example, the mechanical arm 2 can be a mechanical arm of model UR5 produced by Universal Robots (Universal Robots) company.

[0055] 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, and the bone grinding device 1 mainly comprises a bone grinding drill bit 50, a damping assembly 40, a force sensor 60, a displacement sensor 70 and an acceleration sensor 80 and other sensor systems. When working, the bone grinding drill bit 50 fixed on the movable piece 20 rotates and starts to grind, the mechanical arm 2 moves downward, the bone grinding drill bit 50 contacts the bone sample, and the grinding process is generated. The reaction force received by the bone grinding drill bit 50 moves the movable piece 20 upward, the displacement sensor 70 calculates the compression amount of the elastic piece 42 by measuring the displacement distance of the movable piece 20, and reflects the change of the 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 bit 50 contacts the bone sample, providing a reference for the vibration frequency and intensity in the grinding process, and ensuring the stability of the operation. The force sensor 60 is connected to the mechanical arm 2 through the flange, records the change of the cutting force after the bone grinding drill bit 50 contacts the bone sample, provides accurate real-time feedback for the control of the grinding force, and avoids the influence of excessive or insufficient force on the operation effect.

[0056] In order to realize the above functions, the UR5 mechanical arm can be used as the moving platform of the bone grinding device 1, and the ur_rtde library is used to control the mechanical arm 2 in real time. The path planning and speed adjustment of the mechanical arm 2 are completed by calling the ur_rtde library through the python program. As shown in the drawings, Figure 7As shown, in operation, the host computer runs a python program to control the robot 2, instructing the robot 2 to move the bone milling device 1 along a predetermined trajectory, causing the bone milling drill bit 50 to contact the bone sample and complete the milling process. The displacement, acceleration, and force data collected synchronously by the sensors are processed by an ADC (Analog-to-Digital Converter) module and transmitted to a single-chip microcomputer using the SPI (Serial Peripheral Interface) communication protocol, such as an STM32 single-chip microcomputer, which is then transmitted in real time to the host computer by the single-chip microcomputer (e.g., through serial communication). By integrating these data, the bone tissue properties, milling state, and system dynamic disturbances can be evaluated, providing high-quality input for subsequent data analysis and deep learning.

[0057] By combining the high flexibility of the UR5 robot arm and the real-time control capabilities of the ur_rtde library, the multi-sensor fusion design according to the exemplary embodiments of the present disclosure enables real-time monitoring and precise control of the milling process, laying the foundation for intelligent and automated operation of surgical robots in complex bone tissue conditions. The data from the three sensors are simultaneously collected and transmitted to the data processing module, which can identify regular changes in the milling process through comprehensive analysis. The processed data are used for neural network training, enabling the system to optimize the milling strategy through deep learning and improve the autonomous decision-making ability and operation precision of the surgical robot. This multi-sensor fusion design ensures real-time monitoring and control of the milling process, enabling adjustment of the operation strategy according to the milling state of different bone qualities and providing a guarantee for precise milling in spinal surgery.

[0058] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the aspects disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure following, in general, the principles of the present disclosure and including such

[0059] It should be understood that the present disclosure is not limited to the precise structures described herein and illustrated in the drawings and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the claims appended hereto.

Claims

1. A bone grinding device (1) for a surgical robot, characterized in that, The application relates to a bone grinding device (1), comprising: a fixed support (10) configured to form a containing space; a movable piece (20) arranged in the containing space; a guide assembly (30) connected with the fixed support (10), the guide assembly (30) penetrating the movable piece (20) to define the moving direction of the movable piece (20), the guide assembly (30) comprising a guide shaft (31), both ends of the guide shaft (31) being connected with the fixed support (10); a damping assembly (40) connected between the fixed support (10) and the movable piece (20), the damping assembly (40) comprising two elastic piece connectors (41) and an elastic piece (42) connected between the two elastic piece connectors (41), the guide assembly (30) also penetrating the damping assembly (40); a bone grinding drill bit (50) connected with the movable piece (20), the bone grinding drill bit (50) extending out of the containing space from an end of the fixed support (10) not connected with the damping assembly (40); a force sensor (60) arranged at the connection between the fixed support (10) and a mechanical arm (2) of a surgical robot, used for detecting the pressure applied by the mechanical arm (2) to the fixed support (10); a displacement sensor (70) arranged between the movable piece (20) and the fixed support (10), used for detecting the displacement of the movable piece (20) relative to the fixed support (10); an acceleration sensor (80) connected with the movable piece (20), used for detecting the vibration of the movable piece (20).

2. The bone grinding device (1) according to claim 1, wherein: the displacement sensor (70) is located on the side of the movable piece (20) away from the damping assembly (40).

3. The bone grinding device (1) according to claim 1, wherein: the guide assembly (30) further comprises a guide bearing (32) for supporting the guide shaft (31), the guide bearing (32) being embedded in the elastic piece connector (41).

4. The bone mill device (1) according to claim 1, characterized in that Further comprising: a gasket (90) located on the side of the movable piece (20) away from the damping assembly (40).

5. The bone grinding device (1) according to claim 4, wherein: the gasket (90) is sleeved on the guide shaft (31) and attached to the fixed support (10).

6. A surgical robot characterized by, Comprising: a mechanical arm (2); and the bone grinding device (1) according to any one of claims 1 to 5, the bone grinding device (1) being connected at the end of the mechanical arm (2). ​

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