Bone cement injection device of surgical robot

Abstract

The invention discloses a bone cement injection device of a surgical robot, and relates to the technical field of medical equipment, the bone cement injection device comprises an injection device body, a silica gel hose and an injection mechanism, and the injection mechanism comprises a buffer assembly. The injection head with a small caliber is arranged on the inner side wall of the fixed head cylinder, and the upper half part of the injection head adopts a circular truncated cone stepped design, so that the injection head can be movably adjusted within a certain range of the fixed head cylinder while the injection head is prevented from falling off from the fixed head cylinder, the position of the injection head is aligned with a wound, and the injection head can be conveniently inserted into the wound; a sleeving cylinder and a fixed head cylinder respectively slide towards a buffer cylinder, so that a third spring is limited by a limiting step, and an injection head and a pin head are repositioned on the axis of an injection mechanism, so that bone cement in a storage cylinder enters a connecting plug through a material through groove and is conveyed to the bottom end of the injection head to fill a wound at a bone; the effect of accurately positioning the bone cement injection position under a small wound is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a bone cement injection device of a surgical robot. Background Art

[0002] Bone cement is a medical material used for fracture repair, usually composed of polymethyl methacrylate and calcium phosphate. It can fill the fracture site, provide support and stability, and promote fracture healing. Bone cement is often used in fracture fixation surgery to help restore bone stability and function. In orthopedic medical surgery, the bone cement injection device can assist medical personnel in completing part of the work of orthopedic surgery.

[0003] In the prior art, for example, the "bone cement injection device" with patent publication number CN115227374A includes a sleeve, a push rod is slidably fitted on the sleeve, an extension tube is connected to the end of the sleeve, one end of the extension tube is fixedly connected to the sleeve, and the other end is fixedly connected to a sieve, a groove is recessed in the front section of the sieve, and sieve holes for bone cement to pass through are evenly distributed around the groove and the sieve, a balloon is provided on the outside of the sieve groove of the extension tube, the balloon includes a circumferential portion and a front end portion, the front end portion is connected to the circumferential portion, the elastic coefficient of the front end portion is greater than that of the circumferential portion, an air guide tube for inflating the balloon is also provided on one side of the extension tube, and the air guide tube is connected to an air pump.

[0004] However, in the prior art, in order to reduce the surgical trauma caused by orthopedic surgery, a smaller incision is always made at the location where bone cement is injected when the patient's skin is opened during medical surgery. Therefore, high positioning accuracy is required for the bone cement injection device. The injection head of the existing bone cement injection device generally adopts a fixed connection method. In the narrow wound space, it is difficult to control the movement trajectory of the injection head, which results in the injection head being unable to be inserted into the designated position where bone cement needs to be filled when the wound is too small, affecting the normal progress of the operation. Summary of the invention

[0005] The purpose of the present invention is to provide a bone cement injection device for a surgical robot to solve the problem that the injection head of the bone cement injection device proposed in the above background technology generally adopts a fixed connection method, and it is difficult to control the movement trajectory of the injection head in a narrow wound space, which leads to the inability to insert the injection head into the designated position where bone cement needs to be filled when the wound is too small, affecting the normal progress of the operation.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a bone cement injection device for a surgical robot, comprising an injection device body, a silicone hose and an injection mechanism, wherein the injection mechanism comprises a buffer component, an adjustment component is arranged above the top end of the buffer component, an injection component is arranged below the bottom end of the buffer component, the buffer component comprises a buffer cylinder, a circular cylinder is slidably connected to the inner side wall of the bottom end of the buffer cylinder, and the inner side wall of the buffer cylinder is fixedly connected to a limited step;

[0007] The adjusting assembly comprises a sleeve cylinder, the inner side wall of the sleeve cylinder is slidably connected with the outer side wall of the buffer cylinder, a material storage assembly is arranged above the top end of the limit step, the material storage assembly comprises a material storage cylinder, the bottom end of the material storage cylinder is fixedly connected with the bottom end of the limit step, a first spring is fixedly connected between the top end of the material storage cylinder and the sleeve cylinder, a fixed head cylinder is provided at the bottom end of the material storage cylinder, a material passing groove is provided on the inner side wall of the fixed head cylinder, and a material guide pipe is connected between the sleeve cylinder and the manipulator body;

[0008] The top end of the material storage barrel is slidably connected to a sliding column, the bottom end of the sliding column is fixedly connected to a sealing retaining ring, a second spring is fixedly connected between the inner bottom wall of the material storage barrel and the sealing retaining ring, the injection assembly includes an injection head, the top end of the injection head is fixedly connected to a pin head, the top end of the pin head is fixedly connected to a plug joint, the outer side wall of the pin head is provided with a third spring, the outer side wall of the injection head is movably connected to the inner side wall of the circular movable barrel, one end of the silicone hose is connected to the injection device body, the other end of the silicone hose is connected to the sleeve fixed barrel, and the inner side wall of the sealing retaining ring is slidably connected to the outer side wall of the fixed head barrel.

[0009] Preferably, the injection mechanism also includes a support assembly, which includes a first support ring and a second support ring, the inner side wall of the first support ring is fixedly connected to the outer side wall of the sleeve cylinder, and a support assembly is further provided on the outside of the injection mechanism, the first support ring is connected to the sleeve cylinder, and the second support ring is connected to the circular movable cylinder. Since the sleeve cylinder and the circular movable cylinder are both retracted and moved toward the middle of the buffer cylinder during the adjustment process, the distance between the first support ring and the second support ring is also reduced with the positioning adjustment.

[0010] Preferably, the inner wall of the second support ring is fixedly connected to the outer wall of the circular movable cylinder, and the top end of the second support ring and the bottom end of the first support ring are rotatably connected with a swing arm. By arranging rotatable swing arms at the top ends of the first support ring and the second support ring, and the two swing arms are rotatably connected to each other, when the first support ring and the second support ring are close to each other, the two swing arms are folded outwards.

[0011] Preferably, a translation rod is arranged between the first support ring and the second support ring, one end of the translation rod is fixedly connected to the second hinge seat, and a telescopic rod is fixedly connected between the first support ring and the second support ring. At the same time, a translation rod is arranged at the connection of the two swing arms, the translation rod always maintains horizontal rotation, and the translation rod is connected to the upper and lower swing arms through the second hinge seat.

[0012] Preferably, the second articulated seat is rotatably connected to the telescopic rod, and the other end of the translation rod is movably connected to the first articulated seat. The first articulated seat is arranged at the other end of the translation rod, and the first articulated seat comprises an outer fixed square seat and an inner sleeve on a rotating ball, and the rotating ball and the square seat can be freely slid and adjusted at any angle.

[0013] Preferably, the inner side wall of the first articulated seat is slidably connected with a swing strut rod, the top end of the swing strut rod is rotatably connected to the first support ring, and a sliding swing strut rod is arranged inside the rotating seat, and the top end of the swing strut rod is interconnected with the first support ring. Therefore, when the first support ring and the second support ring approach each other, the swing arm folds outward to drive the second articulated seat to move horizontally outward.

[0014] Preferably, the bottom end of the swing support rod is rotatably connected to a web plate, and the bottom surface of the web plate is provided with anti-skid stripes. By providing a rotatable web plate at the bottom end of the swing support rod, the web plate and the surface of the platform are supported. At the same time, anti-skid stripes are provided at the bottom end of the web plate, thereby increasing the friction resistance of the bottom surface of the web plate.

[0015] Preferably, a positioning mechanism is provided on the outside of the injection device body, and the positioning mechanism includes a manipulator body, a handle is rotatably connected to the top of the manipulator body, and the outer wall of the injection device body is fixedly connected to a limited seat. By arranging a multi-degree-of-freedom positioning mechanism on one side of the injection device body, a rotating handle is provided on the top of the positioning mechanism, and the manipulator body is connected to the injection device body by utilizing the threaded connection relationship between the limit seat and the handle.

[0016] Preferably, a first limiting screw hole is opened on the inner side wall of the limiting seat, and a positioning gear ring is fixedly connected to the side wall of the limiting seat. The first limiting screw hole is set in the center of the limiting seat, and the limiting seat and the handle are threadedly connected by utilizing the first limiting screw hole. The handle is set on the outer side wall of the limiting seat to further improve the stability of the connection between the handle and the limiting seat.

[0017] Preferably, the handle is threadedly connected to the limit seat through the first limit screw hole, and a second limit screw hole is opened at one end of the handle. By setting a second limit screw hole on the outside of the handle and connecting it at the second limit screw hole with a screw and a nut, the position of the handle and the limit seat is secondarily limited.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. In the present invention, the injection mechanism is flexibly connected to the injection device body by using a silicone hose. At the same time, an injection head with a smaller diameter is arranged on the inner wall of the fixed head cylinder, and the upper part of the injection head adopts a stepped design, so as to prevent the injection head from falling off the fixed head cylinder and enable the injection head to be movable and adjusted within a certain range of the fixed head cylinder, so that the position of the injection head is aligned with the wound to facilitate insertion into the wound. After the injection head is inserted into the specified position, the sleeve cylinder and the fixed head cylinder are slid toward the buffer cylinder respectively, so that the limit step limits the third spring, so that the injection head and the pin head are repositioned on the axis of the injection mechanism, so that the bone cement in the storage cylinder enters the plug joint through the material trough and is transported to the bottom end of the injection head to fill the wound at the bone, thereby achieving the effect of accurately positioning the bone cement injection position under a small wound.

[0020] 2. In the present invention, a first support ring and a second support ring are respectively arranged on the outer sides of the sleeve cylinder and the circular movable cylinder. When the position of the injection head is fixed, the sleeve cylinder and the fixed head cylinder both slide into the inside of the buffer cylinder, so that the distance between the first support ring and the second support ring is reduced, and the swing arm folds outward to drive the second hinge seat to move horizontally outward. The second hinge seat drives the first hinge seat to move outward by using the translation rod, and controls the outward support angle of the swing support rod, thereby increasing the stability of the support assembly supporting the injection mechanism and further improving the accuracy of the bone cement injection position.

[0021] 3. In the present invention, a material storage barrel is arranged at the sleeve barrel and the limit step. When the sleeve barrel slides toward the buffer barrel, the sliding column contacts the top surface of the sleeve barrel, so that the sliding column drives the sealing retaining ring to move its position, so that the raw material inside the material storage barrel is input into the top opening of the plug connector at the bottom through the open material trough. When the injection head is in the position of adjustment, the sealing retaining ring is in a normal pressure-free state, and the sealing retaining ring is squeezed to the position of the material trough by the elastic force of the second spring, thereby achieving a sealing effect on the material storage assembly, thereby controlling the on-off effect of the injection head feeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the three-dimensional structure of a bone cement injection device of a surgical robot according to the present invention Figure 1 ;

[0023] Figure 2 A schematic diagram of the three-dimensional structure of a bone cement injection device of a surgical robot according to the present invention Figure 2 ;

[0024] Figure 3 It is a structural schematic diagram of an injection mechanism in a bone cement injection device of a surgical robot according to the present invention;

[0025] Figure 4 For the present invention Figure 2 A magnified rendering of the local structure at point A in the middle;

[0026] Figure 5 It is a schematic diagram of a half-section structure of an injection mechanism in a bone cement injection device of a surgical robot according to the present invention;

[0027] Figure 6 It is a side cross-sectional schematic diagram of an injection mechanism in a bone cement injection device of a surgical robot according to the present invention;

[0028] Figure 7 This is a schematic diagram of the outer structure of a buffer cylinder in a bone cement injection device of a surgical robot according to the present invention;

[0029] Figure 8 It is a schematic diagram of the structural disassembly of an injection mechanism in a bone cement injection device of a surgical robot according to the present invention;

[0030] Fig. 9 It is a schematic structural diagram of a buffer cylinder in a bone cement injection device of a surgical robot according to the present invention;

[0031] Fig.10 The present invention is a schematic diagram of the internal structure of a material storage component in a bone cement injection device of a surgical robot.

[0032] In the figure: 1, injection device body; 2, silicone hose; 3, injection mechanism; 31, adjustment assembly; 311, sleeve cylinder; 312, first spring; 313, guide tube; 314, sliding column; 315, sealing ring; 316, second spring; 32, support assembly; 321, first support ring; 322, telescopic rod; 323, second support ring; 324, swing arm; 325, translation rod; 326, first hinge seat; 327, swing support rod; 328, webbed palm plate; 329, The second articulated seat; 33. Injection assembly; 331. Injection head; 332. Pin head; 333. Third spring; 334. Plug connector; 34. Storage assembly; 341. Storage barrel; 342. Fixed head barrel; 343. Material trough; 35. Buffer assembly; 351. Buffer barrel; 352. Circular moving barrel; 353. Limit step; 4. Positioning mechanism; 41. Manipulator body; 42. Limit seat; 43. First limit screw hole; 44. Positioning gear ring; 45. Handle; 46. Second limit screw hole. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Embodiment 1

[0035] according to Figure 1-10 As shown: a bone cement injection device of a surgical robot, comprising an injection device body 1, a silicone hose 2 and an injection mechanism 3, the injection mechanism 3 comprising a buffer component 35, an adjustment component 31 is arranged above the top of the buffer component 35, an injection component 33 is arranged below the bottom of the buffer component 35, the buffer component 35 comprises a buffer cylinder 351, a circular cylinder 352 is slidably connected to the inner side wall of the bottom end of the buffer cylinder 351, and a limited step 353 is fixedly connected to the inner side wall of the buffer cylinder 351;

[0036] The adjusting assembly 31 includes a sleeve cylinder 311, the inner side wall of the sleeve cylinder 311 is slidably connected to the outer side wall of the buffer cylinder 351, a storage assembly 34 is arranged above the top of the limit step 353, the storage assembly 34 includes a storage cylinder 341, the bottom end of the storage cylinder 341 is fixedly connected to the bottom end of the limit step 353, a first spring 312 is fixedly connected between the top of the storage cylinder 341 and the sleeve cylinder 311, a fixed head cylinder 342 is provided at the bottom end of the storage cylinder 341, a material passing groove 343 is provided on the inner side wall of the fixed head cylinder 342, and a material guide pipe 313 is connected between the sleeve cylinder 311 and the robot body 41;

[0037] The top end of the storage barrel 341 is slidably connected with a sliding column 314, the bottom end of the sliding column 314 is fixedly connected with a sealing ring 315, a second spring 316 is fixedly connected between the inner bottom wall of the storage barrel 341 and the sealing ring 315, the injection assembly 33 includes an injection head 331, the top end of the injection head 331 is fixedly connected with a pin head 332, the top end of the pin head 332 is fixedly connected with a plug connector 334, the outer wall of the pin head 332 is provided with a third spring 333, the outer wall of the injection head 331 is movably connected with the inner wall of the circular movable cylinder 352, one end of the silicone hose 2 is connected with the injection device body 1, the other end of the silicone hose 2 is connected with the sleeve cylinder 311, the inner wall of the sealing ring 315 is slidably connected with the outer wall of the fixed head cylinder 342.

[0038] In this embodiment, the injection device body 1 is the main body of the device for operating the bone cement injection during the operation. The injection device body 1 stores the raw materials for bone cement injection. At the same time, a pump body is arranged inside the injection device body 1 to control the injection of the bone cement raw materials into the injection mechanism 3. The injection device body 1 and the injection mechanism 3 are connected by a silicone hose 2. Since the silicone hose 2 is made of flexible material, the position of the injection mechanism 3 relative to the injection device body 1 can be adjusted at any time.

[0039] The overall structure of the injection mechanism 3 is disassembled and analyzed. The injection mechanism 3 can be divided into three parts according to the position change state during use. The first part is the adjustment component 31 of the upper part of the injection mechanism 3. The adjustment component 31 moves downward relatively during use. The second part is the injection component 33 of the lower part of the injection mechanism 3. The injection component 33 first keeps a stable vertical position during use, and then moves with the movement of the buffer component 35. The third part is the movable cylinder 352 in the middle part of the injection mechanism 3. The movable cylinder 352 moves upward relatively during use. In addition, according to the distribution relationship between the inner and outer layers, the injection component 33 is arranged at the innermost layer, the buffer component 35 is arranged at the middle layer, the adjustment component 31 is arranged at the outermost layer, and the storage component 34 is arranged in the built-in chamber of the limit step 353 and the sleeve cylinder 311.

[0040] When the fixed cylinder 311 and the buffer cylinder 351 slide relative to each other, the volume of the internal cavity of the storage assembly 34 also changes accordingly. Since the position of the storage cylinder 341 is fixed to the position of the limit step 353, when the movable cylinder 352 slides upward relative to the buffer cylinder 351, the movable cylinder 352 will also drive the injection head 331 to move upward until the pin head 332 at the top of the injection head 331 drives the plug connector 334 to approach the fixed head cylinder 342, thereby realizing the process of docking the fixed head cylinder 342 with the fixed head cylinder 342;

[0041] The material storage assembly 34 is composed of an upper material storage barrel 341 and a lower fixed head barrel 342. The material storage barrel 341 and the fixed head barrel 342 are integrally formed to form a sealed container, and the fixed head barrel 342 presents a gradual trend of expanding outward from the top to the bottom. When the plug joint 334 is initially docked with the fixed head barrel 342, the gradually expanding bottom end of the fixed head barrel 342 plays a guiding and positioning role for the plug joint 334. At the same time, a conical cross-section opening is arranged inside the limit step 353, so that the limit step 353 can activate the positioning effect on the third spring 333 below, and the third spring 333 is positioned. 33 is docked to the vertical axis of the injection mechanism 3, and the plug connector 334 is aligned and docked with the axis of the fixed head cylinder 342, and also defines the discharge position of the injection head 331. A sealing ring 315 that slides up and down is arranged on the outer wall of the fixed head cylinder 342. The sealing ring 315 is tightly connected to the outer wall of the fixed head cylinder 342. The top of the sealing ring 315 is connected to the sliding column 314. The top of the sliding column 314 passes through the top wall of the storage barrel 341, and a sealing ring is arranged between the sliding column 314 and the storage barrel 341 to prevent the raw materials inside the storage assembly 34 from leaking out.

[0042] A material passing groove 343 is arranged on the surface of the fixed head cylinder 342. When the sliding column 314 is not in contact with the top surface of the sleeve cylinder 311, the sealing retaining ring 315 is in a normal pressure-free state, and the sealing retaining ring 315 is squeezed to the position of the material passing groove 343 by the elastic force of the second spring 316, thereby achieving a sealing effect on the material storage component 34. When the internal space of the sleeve cylinder 311 is reduced, the sliding column 314 is in contact with the top surface of the sleeve cylinder 311, so that the sliding column 314 drives the sealing retaining ring 315 to move its position, so that the raw material inside the storage cylinder 341 is input into the top opening of the plug connector 334 connected below through the open material passing groove 343.

[0043] Embodiment 2

[0044] according to Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 and Fig.10As shown, the injection mechanism 3 also includes a support assembly 32, which includes a first support ring 321 and a second support ring 323. The inner side wall of the first support ring 321 is fixedly connected to the outer side wall of the sleeve cylinder 311. The inner side wall of the second support ring 323 is fixedly connected to the outer side wall of the circular moving cylinder 352, and the top end of the second support ring 323 and the bottom end of the first support ring 321 are both rotatably connected with a swing arm 324. A translation rod 325 is arranged between the first support ring 321 and the second support ring 323, one end of the translation rod 325 is fixedly connected to the second hinge seat 329, and a telescopic rod 322 is fixedly connected between the first support ring 321 and the second support ring 323. The second hinge seat 329 is rotatably connected to the telescopic rod 322, and the other end of the translation rod 325 is movably connected to the first hinge seat 326. The inner side wall of the first hinge seat 326 is slidably connected to a swing support rod 327, and the top end of the swing support rod 327 is rotatably connected to the first support ring 321. The bottom end of the swing support rod 327 is rotatably connected to a webbed palm board 328, and the bottom surface of the webbed palm board 328 is provided with anti-skid stripes.

[0045] In this embodiment, a support assembly 32 is further provided on the outside of the injection mechanism 3, the first support ring 321 is connected to the sleeve cylinder 311, and the second support ring 323 is connected to the circular cylinder 352. Since the sleeve cylinder 311 and the circular cylinder 352 are both stored and moved toward the middle of the buffer cylinder 351 during the adjustment process, the distance between the first support ring 321 and the second support ring 323 is also reduced with the positioning adjustment, by providing a rotating swing arm 324 at the top of the first support ring 321 and the second support ring 323, and the two swing arms 324 are rotatably connected to each other;

[0046] When the first support ring 321 and the second support ring 323 are close to each other, the two swing arms 324 are folded outwards. At the same time, a translation rod 325 is provided at the connection of the two swing arms 324. The translation rod 325 always keeps horizontal rotation. The translation rod 325 is connected to the upper and lower swing arms 324 through a second hinge seat 329. A first hinge seat 326 is provided at the other end of the translation rod 325. The first hinge seat 326 is composed of an outer fixed square seat and an inner sleeved rotating ball. The rotating ball and the square seat can be slidably adjusted at any angle. A sliding swing support rod 327 is provided inside the rotating seat. The top of the swing support rod 327 is connected to the first support ring 321.

[0047] Therefore, when the first support ring 321 and the second support ring 323 are close to each other, the swing arm 324 is folded outward to drive the second hinge seat 329 to move outward horizontally, and the second hinge seat 329 drives the first hinge seat 326 to move outward by using the translation rod 325. Since the top position of the swing support rod 327 is fixed, when the connection position of the swing support rod 327 and the first hinge seat 326 changes, the outward support angle of the swing support rod 327 is also controlled. During the positioning process of the injection head 331, the swing support rod 327 drives the webbed palm plate 328 to open outward, which also increases the stability of the support assembly 32 in supporting the injection mechanism 3.

[0048] During actual use, the swing support rod 327 is stretched outward to control the first support ring 321 and the second support ring 323 to move closer to the middle, thereby adjusting the positioning effect after the injection head 331 contacts the limit step 353, and a rotatable webbed plate 328 is provided at the bottom end of the swing support rod 327, so that the webbed plate 328 and the surface of the platform are supported. At the same time, anti-slip stripes are provided at the bottom end of the webbed plate 328 to increase the friction resistance of the bottom surface of the webbed plate 328.

[0049] Embodiment 3

[0050] according to Figure 1 , Figure 2 and Figure 4 As shown, a positioning mechanism 4 is provided on the outside of the injection device body 1, and the positioning mechanism 4 includes a manipulator body 41, and a handle 45 is rotatably connected to the top of the manipulator body 41, and the outer wall of the injection device body 1 is fixedly connected to a limit seat 42. A first limit screw hole 43 is provided on the inner side wall of the limit seat 42, and a positioning gear ring 44 is fixedly connected to the side wall of the limit seat 42. The handle 45 is threadedly connected to the limit seat 42 through the first limit screw hole 43, and a second limit screw hole 46 is provided at one end of the handle 45.

[0051] In this embodiment, since the injection device body 1 is the main device for injecting bone cement, electrical appliances and raw material storage are arranged on the surface, the injection device body 1 is the majority of the volume space of the injection device, and the position of the injection device body 1 needs to be limited, by arranging a multi-degree-of-freedom positioning mechanism 4 on one side of the injection device body 1, and arranging a rotating handle 45 on the top of the positioning mechanism 4, the manipulator body 41 is connected to the injection device body 1 by utilizing the threaded connection relationship between the limit seat 42 and the handle 45;

[0052] By setting a first limiting screw hole 43 at the center of the limiting seat 42, the handle 45 is fixedly assembled on the outside of the limiting seat 42 by using the first limiting screw hole 43, and then by setting a positioning tooth ring 44 on the outer wall of the limiting seat 42, the stability of the connection between the handle 45 and the limiting seat 42 is further improved. By setting a second limiting screw hole 46 on the outside of the handle 45, a screw and a nut are connected to the second limiting screw hole 46, so as to perform a second limitation on the position of the handle 45 and the limiting seat 42.

[0053] The method of use and working principle of the device are as follows: first, a wound is opened at the bone repair position of the patient, and the injection device body 1 is fixed to the edge of the operating table by the manipulator body 41, so that the injection mechanism 3 is around the wound;

[0054] Then, the injection mechanism 3 is extended into the wound and extended out. Since the head of the injection head 331 is located at the buffer cylinder 351 at this time, the injection head 331 can be slightly adjusted in the gap space of the circular cylinder 352 so that the injection head 331 is aligned with the wound.

[0055] Finally, the swing support rod 327 is spread outward, so as to control the first support ring 321 and the second support ring 323 to move closer to the middle, which is conducive to the webbed palm plate 328 being supported on the skin surface around the wound and positioned. At the same time, the first support ring 321 controls the sleeve cylinder 311 to move downward, and the second support ring 323 controls the circular cylinder 352 to move upward.

[0056] When the sleeve cylinder 311 moves downward and is stored outside the buffer cylinder 351, the sliding column 314 contacts the top surface of the sleeve cylinder 311, so that the sliding column 314 drives the sealing ring 315 to move its position, so that the raw materials inside the storage cylinder 341 are input to the top opening of the plug connector 334 connected below through the open material channel 343;

[0057] When the circular movable cylinder 352 moves upward and is stored outside the buffer cylinder 351, the limit step 353 can activate the positioning effect on the third spring 333 below, and the third spring 333 is connected to the vertical axis of the injection mechanism 3. The plug-in connector 334 is aligned and connected with the axis of the fixed head cylinder 342, so that the discharge port of the injection head 331 is aligned with the bone wound, and the pump body inside the injection device body 1 is activated to continuously supply raw materials to the injection head 331.

[0058] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bone cement injection device for a surgical robot, comprising an injection device body (1), a silicone hose (2) and an injection mechanism (3), Features: The injection mechanism (3) comprises a buffer assembly (35), an adjustment assembly (31) is arranged above the top end of the buffer assembly (35), an injection assembly (33) is arranged below the bottom end of the buffer assembly (35), the buffer assembly (35) comprises a buffer cylinder (351), a circular cylinder (352) is slidably connected to the inner side wall of the bottom end of the buffer cylinder (351), and the inner side wall of the buffer cylinder (351) is fixedly connected to the limited step (353); The adjusting assembly (31) comprises a sleeve cylinder (311), the inner side wall of the sleeve cylinder (311) is slidably connected to the outer side wall of the buffer cylinder (351), a material storage assembly (34) is arranged above the top of the limit step (353), the material storage assembly (34) comprises a material storage cylinder (341), the bottom end of the material storage cylinder (341) is fixedly connected to the bottom end of the limit step (353), a first spring (312) is fixedly connected between the top of the material storage cylinder (341) and the sleeve cylinder (311), a fixed head cylinder (342) is provided at the bottom end of the material storage cylinder (341), a material passing groove (343) is provided on the inner side wall of the fixed head cylinder (342), and a material guide pipe (313) is connected between the sleeve cylinder (311) and the robot body (41); The top end of the material storage barrel (341) is slidably connected to a sliding column (314), the bottom end of the sliding column (314) is fixedly connected to a sealing ring (315), a second spring (316) is fixedly connected between the inner bottom wall of the material storage barrel (341) and the sealing ring (315), the injection assembly (33) comprises an injection head (331), the top end of the injection head (331) is fixedly connected to a pin head (332), the top end of the pin head (332) is fixedly connected to A plug connector (334) is connected, a third spring (333) is provided on the outer wall of the pin head (332), the outer wall of the injection head (331) is movably connected to the inner wall of the circular movable cylinder (352), one end of the silicone hose (2) is connected to the injection device body (1), the other end of the silicone hose (2) is connected to the sleeve cylinder (311), and the inner wall of the sealing ring (315) is slidably connected to the outer wall of the fixed head cylinder (342).

2. A bone cement injection device for a surgical robot according to claim 1, Features: The injection mechanism (3) further comprises a support assembly (32), wherein the support assembly (32) comprises a first support ring (321) and a second support ring (323), wherein the inner side wall of the first support ring (321) is fixedly connected to the outer side wall of the sleeve cylinder (311).

3. A bone cement injection device for a surgical robot according to claim 2, Features: The inner side wall of the second support ring (323) is fixedly connected to the outer side wall of the circular moving cylinder (352), and the top end of the second support ring (323) and the bottom end of the first support ring (321) are both rotatably connected to a swing arm (324).

4. A bone cement injection device for a surgical robot according to claim 3, Features: A translation rod (325) is provided between the first support ring (321) and the second support ring (323); one end of the translation rod (325) is fixedly connected to a second hinge seat (329); and a telescopic rod (322) is fixedly connected between the first support ring (321) and the second support ring (323).

5. A bone cement injection device for a surgical robot according to claim 4, Features: The second hinge seat (329) is rotatably connected to the telescopic rod (322), and the other end of the translation rod (325) is movably connected to the first hinge seat (326).

6. The bone cement injection device of a surgical robot according to claim 5, Features: The inner side wall of the first hinge seat (326) is slidably connected to a swing support rod (327), and the top end of the swing support rod (327) is rotatably connected to the first support ring (321).

7. The bone cement injection device of a surgical robot according to claim 6, Features: The bottom end of the swing support rod (327) is rotatably connected to a webbed palm plate (328), and the bottom surface of the webbed palm plate (328) is provided with anti-slip stripes.

8. The bone cement injection device of a surgical robot according to claim 1, Features: A positioning mechanism (4) is arranged on the outside of the injection device body (1), and the positioning mechanism (4) comprises a manipulator body (41), the top end of the manipulator body (41) is rotatably connected to a handle (45), and the outer side wall of the injection device body (1) is fixedly connected to a limited position seat (42).

9. The bone cement injection device of a surgical robot according to claim 8, Features: The inner side wall of the limiting seat (42) is provided with a first limiting screw hole (43), and the side wall of the limiting seat (42) is fixedly connected with a positioning toothed ring (44).

10. The bone cement injection device of a surgical robot according to claim 9, Features: The handle (45) is threadedly connected to the limiting seat (42) via the first limiting screw hole (43), and a second limiting screw hole (46) is formed at one end of the handle (45).

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