Bone cement surgical robot mechanical arm with supporting structure

Abstract

The invention discloses a bone cement surgical robot mechanical arm with a supporting structure, and relates to the field of orthopedic surgeries, the bone cement surgical robot mechanical arm comprises a mechanical arm body, the bottom of the mechanical arm body is fixedly connected with a supporting rod, one end of the mechanical arm body is fixedly connected with an injection hose, and the top of the supporting rod is provided with an adjusting mechanism; and a positioning mechanism is mounted at the top of the adjusting mechanism. According to the device, when a worm drives a worm gear to rotate, a driving plate also starts to rotate, so that a driving force is applied to a moving rod by utilizing a driving hole in the surface of the driving plate, the moving rod starts to drive a movable block to move under double limiting of the driving hole and a second limiting hole, and finally, the moving rod is driven to move under the limiting action of a second limiting block. The multiple movable rods drive the multiple movable holes to start to gather together at the same time, so that the purpose of positioning the injection hose is achieved, and then the accuracy and precision of injection can be improved when bone cement is injected into the injection hose.

Description

Technical Field

[0001] The present invention relates to the technical field of orthopedic surgery, and in particular to a bone cement surgery robot arm with a supporting structure. Background Art

[0002] Bone cement is the common name for bone cement, a medical material used in orthopedic surgery, and a bone cement surgical robot is an advanced medical device used in orthopedic surgery. It can help doctors more accurately locate and inject bone cement during bone cement filling surgery, thereby improving the accuracy and safety of the surgery.

[0003] For example, the "bone cement injection robot" with Chinese patent number: CN115670629A includes: an active robotic arm; a bone cement injection device, which is arranged at the front end of the active robotic arm; a positioning system, including a patient positioner, an injection device positioner and a tracking and positioning device, the patient positioner is arranged on the patient's limb, the injection device positioner is arranged on the bone cement injection device, and the tracking and positioning device is used to track and position the posture of the patient positioner and the injection device positioner; a control device, which is connected to the active robotic arm, the bone cement injection device and the positioning system signal, receives the positioning signal sent by the positioning system, controls the movement of the active robotic arm, moves the bone cement injection device to a predetermined position, and controls the bone cement injection device to puncture and inject bone cement.

[0004] However, in the prior art, when a mechanical arm is used to control a bone cement surgical robot to inject bone cement, the flexible tube injection tube does not have rigidity, so it bends or deforms during the injection process, thereby affecting the accuracy and precision of the injection. In addition, the softness of the flexible tube injection tube also makes it difficult to accurately control the injection direction and strength during the injection process, thereby affecting the effect and safety of the surgery.

[0005] In addition, due to the softness of the hose injection tube, during the injection process, the movement of the robot arm may cause the hose injection tube to be blocked by other objects, resulting in the hose injection tube being bent. Summary of the invention

[0006] The purpose of the present invention is to provide a bone cement surgical robot arm with a support structure to solve the problem that the softness of the injection tube proposed in the above background technology not only affects the accuracy and precision of the injection, but also makes it difficult to accurately control the injection direction and strength during the injection process.

[0007] To achieve the above object, the present invention provides the following technical solution: a bone cement surgical robot mechanical arm with a support structure, comprising a mechanical arm body, a support rod is fixedly connected to the bottom of the mechanical arm body, and an injection hose is fixedly connected to one end of the mechanical arm body, an adjustment mechanism is installed on the top of the support rod, and a positioning mechanism is installed on the top of the adjustment mechanism;

[0008] The worm gear is an upper end of the second end of the second guide wheel assembly, and the lower end of the second guide wheel assembly is engaged with the worm gear, and the worm gear ...

[0009] The support member includes a base plate and a sleeve, wherein a first support frame is fixedly connected to the top of the base plate, the first support frame is rotatably connected to two ends of a rotating frame, a second support frame is fixedly connected to the bottom of the sleeve, the second support frame is rotatably connected to the other two ends of the rotating frame, and a movable rod is slidably connected inside the sleeve.

[0010] Preferably, a second knob is rotatably connected to one side of one of the fixing plates, one end of the second knob is fixedly connected to the worm, the width of the driving hole and the width of the second limiting hole are both smaller than the diameter of the second limiting block, and through holes are provided in the center of the driving plate and the limiting plate.

[0011] Preferably, a rotating column is fixedly connected to the bottom of the base plate, the bottom end of the rotating column is rotatably connected to the mounting plate, the top end of the movable rod is fixedly connected to a supporting block, and the rotating frame is located inside the first supporting frame and the second supporting frame.

[0012] Preferably, the adjustment mechanism includes a mounting frame, a support plate is fixedly connected to the top of the mounting frame, and a screw rod is arranged on the inner side of the mounting frame, a sliding block is threadedly connected to the surface of the screw rod, a sliding groove is opened in the middle of the support plate, a movable hole is opened in the center of the sliding groove, a movable block is slidably connected inside the sliding groove, the top of the sliding block passes through the movable hole, and the top of the sliding block is fixedly connected to the bottom of the movable block.

[0013] Preferably, a rack is fixedly connected to the top of the sliding block, a half gear is meshingly connected above the rack, the top of the half gear is fixedly connected to the bottom center of the mounting plate, and a rotating shaft is fixedly connected to the inner surface of the half gear.

[0014] Preferably, both sides of the top of the support plate are fixedly connected with side plates, the top of the side plate is provided with a first limiting hole, and both ends of the rotating shaft are rotatably connected to the side plates.

[0015] Preferably, both sides of the top end of the half gear are fixedly connected to limit rods, one end of the limit rod passes through the first limit hole, and one end of the limit rod is fixedly connected to the first limit block.

[0016] Preferably, the diameter of the first limiting hole is smaller than the diameter of the first limiting block, and the cross section of the moving block is a trapezoidal structure.

[0017] Preferably, two sliding rods are fixedly connected to the inner side of the mounting frame, and the sliding rods are slidably connected to the sliding block.

[0018] Preferably, a first knob is rotatably connected to one side of the mounting frame, one end of the first knob is fixedly connected to a screw rod, and one end of the screw rod is rotatably connected to an inner wall of the mounting frame.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. In the present invention, the worm gear is driven to rotate by the worm, which causes the driving plate to start rotating. Therefore, the driving hole on the surface of the driving plate applies a driving force to the moving rod, so that the moving rod starts to drive the movable block to move under the dual limitation of the driving hole and the second limiting hole. Finally, under the limiting action of the second limiting block, multiple moving rods simultaneously drive multiple movable holes to begin to gather together, so as to achieve the purpose of positioning the injection hose, thereby improving the accuracy and precision of the injection when the injection hose is used to inject bone cement.

[0021] 2. In the present invention, by utilizing the existence of the rotating frame, and the first support frame and the second support frame are rotatably connected to the rotating frame respectively, the sleeve can be rotated in the XY axis direction, and the base plate and the rotating column can be used to achieve the purpose of manually controlling the position of the support block. By utilizing the friction between the movable rod and the sleeve, the height of the support block can also be adjusted, so that the injection hose can be further supported, so that the angle and direction of injection can be accurately controlled when the injection hose is in use.

[0022] 3. In the present invention, the first knob is used to control the rotation of the screw rod, and the position of the surface sliding block is accurately adjusted, so that the position of the rack can be accurately controlled, so that when the rack drives the half gear to rotate, the rotation angle can be adjusted, so that when the injection hose is supported and positioned, it can be accurately adjusted to a suitable position according to the injection angle of the injection hose. In addition, the screw rod, the first knob and the sliding block are used to drive the rack and the half gear to rotate, so as to avoid the positioning mechanism from moving at any angle and bending the injection hose. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a bone cement surgical robot mechanical arm with a support structure according to the present invention;

[0024] Figure 2This is a partial structural schematic diagram of a robotic arm for bone cement surgery with a support structure according to the present invention;

[0025] Figure 3 This is a partial structural schematic diagram of an adjustment mechanism of a robotic arm for bone cement surgery with a support structure according to the present invention;

[0026] Figure 4 This is a disassembled structural schematic diagram of an adjustment mechanism of a robotic arm for bone cement surgery with a support structure according to the present invention;

[0027] Figure 5 This is a structural schematic diagram of a positioning mechanism of a robotic arm for bone cement surgery with a support structure according to the present invention;

[0028] Figure 6 This is a partial disassembled structural schematic diagram of a positioning mechanism of a robotic arm for bone cement surgery with a support structure according to the present invention;

[0029] Figure 7 This is a structural schematic diagram of a support member of a robotic arm for bone cement surgery with a support structure according to the present invention.

[0030] In the figure: 1, robotic arm body; 2, injection hose; 3, support rod; 4, adjustment mechanism; 41, mounting bracket; 42, sliding block; 43, slide bar; 44, lead screw; 441, first knob; 45, support plate; 451, moving hole; 452, chute; 46, side plate; 461, first limiting hole; 47, rack; 471, moving block; 48, half gear; 481, rotating shaft; 49, limiting rod; 491, first limiting block; 5, positioning mechanism; 51, mounting plate; 511, fixing plate; 52, support member; 521, bottom plate; 522, rotating column; 523, first support frame; 524, rotating frame; 525, second support frame; 526, sleeve; 527, support block; 528, movable rod; 53, drive plate; 531, drive hole; 54, worm gear; 55, limiting plate; 551, second limiting hole; 56, moving rod; 561, second limiting block; 57, movable block; 58, worm; 581, second knob. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1

[0033] Refer to Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown: a bone cement surgical robot mechanical arm with a support structure, comprising a mechanical arm body 1, a support rod 3 is fixedly connected to the bottom of the mechanical arm body 1, and an injection hose 2 is fixedly connected to one end of the mechanical arm body 1, an adjustment mechanism 4 is installed on the top of the support rod 3, and a positioning mechanism 5 is installed on the top of the adjustment mechanism 4;

[0034] The positioning mechanism 5 includes a mounting plate 51, a driving plate 53 and a limiting plate 55. Two fixing plates 511 are fixedly connected to the top of the mounting plate 51. A worm 58 is rotatably connected between the two fixing plates 511. The bottom of the limiting plate 55 is fixedly connected to the top of the mounting plate 51. A second limiting hole 551 is provided on the surface of the limiting plate 55. A worm wheel 54 is fixedly connected to the outer edge of the driving plate 53. The bottom of the worm wheel 54 is meshed with the worm 58. A driving hole 531 is provided on the surface of the driving plate 53. A plurality of moving rods 56 are arranged between the driving plate 53 and the limiting plate 55. A movable block 57 is fixedly connected to the middle of the moving rod 56. One end of the moving rod 56 passes through the driving hole 531, and the other end of the moving rod 56 passes through the second limiting hole 551. Both ends of the moving rod 56 are fixedly connected to the second limiting blocks 561. The top of the mounting plate 51 is fixedly connected to the support member 52.

[0035] The support member 52 includes a base plate 521 and a sleeve 526. A first support frame 523 is fixedly connected to the top of the base plate 521. The first support frame 523 is rotatably connected to two ends of a rotating frame 524. A second support frame 525 is fixedly connected to the bottom of the sleeve 526. The second support frame 525 is rotatably connected to the other two ends of the rotating frame 524. A movable rod 528 is slidably connected inside the sleeve 526.

[0036] In this embodiment, when injecting bone cement, the second knob 581 is used to drive the worm 58 to start rotating. As the worm 58 starts to rotate, the worm wheel 54 will be driven to rotate, so that the worm 58 drives the driving plate 53 to start rotating. When the driving plate 53 starts to rotate, the driving hole 531 on the surface will have an inclined structure, and the driving hole 531 on the surface will then be used to apply a driving force to the moving rod 56, so as to achieve the purpose of driving the moving rod 56 to start moving.

[0037] Then, during the movement, the moving rod 56 will also move inside the second limiting hole 551, so that when the moving rod 56 drives the movable block 57 to move, the moving trajectory will be limited by the second limiting hole 551. As the multiple movable blocks 57 start to move at the same time, the multiple movable blocks 57 will gather together. When the multiple movable blocks 57 start to gather together, the injection hose 2 passing through the driving block and the limiting plate 55 will be positioned, thereby completing the positioning of the injection hose 2.

[0038] Finally, after the injection hose 2 gathers and positions the multiple movable blocks 57, the injection hose 2 can avoid bending or deformation during the injection process when injecting bone cement, thereby improving the accuracy and precision of the injection, and then accurately controlling the injection direction and strength to ensure the normal progress and safety of the operation.

[0039] Embodiment 2

[0040] Figure 5-7 As shown, one side of one of the fixed plates 511 is rotatably connected to a second knob 581, one end of the second knob 581 is fixedly connected to the worm 58, the width of the driving hole 531 and the width of the second limiting hole 551 are both smaller than the diameter of the second limiting block 561, and a through hole is provided in the center of the driving plate 53 and the limiting plate 55. A rotating column 522 is fixedly connected to the bottom of the bottom plate 521, the bottom end of the rotating column 522 is rotatably connected to the mounting plate 51, the top of the movable rod 528 is fixedly connected to a support block 527, and the rotating frame 524 is located inside the first support frame 523 and the second support frame 525.

[0041] In this embodiment, when the mechanical arm body 1 cooperates with the injection hose 2 to inject bone cement, the movable rod 528 is used to perform telescopic movement inside the sleeve 526, and the height of the support block 527 can be freely adjusted by the friction between the movable rod 528 and the sleeve 526, so as to adjust it to a suitable position when supporting the injection hose 2. After a threaded rod is provided on one side of the sleeve 526 to penetrate and abut the movable rod 528, the friction between the threaded rod and the movable rod 528 can increase the weight of the injection hose 2 that can be supported by the support block 527.

[0042] Next, the rotating column 522 is rotatably connected to the mounting plate 51, and the bottom plate 521 can be rotated, so that the bottom plate 521 can adjust the angle of the support block 527 when rotating, thereby improving the injection accuracy when the injection hose 2 is injecting bone cement. In addition, the rotating frame 524 is rotatably connected to the first support frame 523 at both ends, and the other two ends of the rotating frame 524 are rotatably connected to the second support frame 525, so that the sleeve 526 can be adjusted and rotated in the XY axis direction when turning, so as to achieve the purpose of freely adjusting the position of the support block 527.

[0043] Finally, as the movable rod 528 is pulled upward from the inside of the sleeve 526, the XY axis adjustment is completed using the rotating frame 524, the first support frame 523 and the second support frame 525. Therefore, the position of the injection hose 2 can be freely adjusted during surgical injection. In this process, the injection hose 2 can be prevented from bending and the injection direction can be accurately controlled.

[0044] Embodiment 3

[0045] according to Figure 2-4 As shown, the adjustment mechanism 4 includes a mounting frame 41, a support plate 45 is fixedly connected to the top of the mounting frame 41, and a screw rod 44 is arranged inside the mounting frame 41, a sliding block 42 is threadedly connected to the surface of the screw rod 44, a slide groove 452 is opened in the middle of the support plate 45, a moving hole 451 is opened in the center of the slide groove 452, a moving block 471 is slidably connected inside the slide groove 452, the top of the sliding block 42 passes through the moving hole 451, and the top of the sliding block 42 is fixedly connected to the bottom of the moving block 471. A rack 47 is fixedly connected to the top of the sliding block 42, a half gear 48 is meshed and connected above the rack 47, the top of the half gear 48 is fixedly connected to the center of the bottom of the mounting plate 51, and a rotating shaft 481 is fixedly connected to the inner surface of the half gear 48. Side plates 46 are fixedly connected to both sides of the top of the support plate 45, a first limiting hole 461 is opened at the top of the side plate 46, and both ends of the rotating shaft 481 are rotatably connected to the side plates 46. The top of the half gear 48 is fixedly connected to a limit rod 49 on both sides, one end of the limit rod 49 passes through the first limit hole 461, and one end of the limit rod 49 is fixedly connected to a first limit block 491. The diameter of the first limit hole 461 is smaller than the diameter of the first limit block 491, and the cross section of the moving block 471 is a trapezoidal structure. Two sliding rods 43 are fixedly connected to the inner side of the mounting frame 41, and the sliding rods 43 are slidably connected to the sliding block 42. A first knob 441 is rotatably connected to one side of the mounting frame 41, one end of the first knob 441 is fixedly connected to the screw rod 44, and one end of the screw rod 44 is rotatably connected to the inner wall of the mounting frame 41.

[0046] In this embodiment, when the first knob 441 is turned, the screw rod 44 can be driven to rotate. As the screw rod 44 starts to rotate, the sliding block 42 can be driven to start moving. When the sliding block 42 slides on the surfaces of the two sliding rods 43, it can ensure that the movement remains straight and stable. In addition, the sliding block 42 will also slide inside the moving hole 451, thereby driving the moving block 471 to slide inside the sliding groove 452, and then driving the rack 47 to start moving.

[0047] Next, by utilizing the structural shape of the slide slot 452 and the trapezoidal structure of the rack 47, the up and down movement space of the rack 47 and the moving block 471 can be limited, so that the meshing of the rack 47 and the half gear 48 will not be skewed or misaligned. When the rack 47 drives the half gear 48 to rotate, the half gear 48 drives the mounting plate 51 to start rotating, thereby adjusting the entire positioning mechanism 5.

[0048] After adjusting to a suitable position to support and position the injection hose 2 according to the angle at which the injection hose 2 is used, the worm 58 is rotated to fix the injection hose 2. When the half gear 48 rotates, it drives the limit rod 49 to slide inside the first limit hole 461, thereby limiting the rotation space of the half gear 48 by utilizing the first limit block 491, and preventing the half gear 48 from shaking left and right when it starts to rotate under the drive of the rack 47. This not only allows the temperature to be maintained when the half gear 48 drives the mounting plate 51 to rotate, but also prevents the rack 47 from being misaligned when meshing with the gear.

[0049] The usage and working principle of the device are as follows: first, the robot body 1 is used to control the injection hose 2 for injection. At this time, the robot body 1 can move freely, so that the robot body 1 drives the injection hose 2 to move to the specified position. When injecting bone cement, the position of the positioning mechanism 5 is first adjusted according to the height position of the injection hose 2.

[0050] During the adjustment process, first adjust according to the inclination angle of the injection hose 2. Therefore, the first knob 441 can be turned first, and then the screw 44 can be driven to rotate. As the screw 44 starts to rotate, it can drive the sliding block 42 to start moving. When the sliding block 42 slides on the surfaces of the two slide bars 43, it can ensure that it remains straight and stable during movement. In addition, the sliding block 42 will also slide inside the moving hole 451, thereby driving the moving block 471 to slide inside the slide groove 452, and then driving the rack 47 to start moving. By utilizing the structural shape of the slide groove 452 and the trapezoidal structure of the rack 47, the up and down moving space of the rack 47 and the moving block 471 can be limited, so that the meshing of the rack 47 and the half gear 48 will not be skewed or misaligned. When the rack 47 drives the half gear 48 to rotate, the half gear 48 will drive the mounting plate 51 to start rotating. Thereby, the purpose of adjusting the angle of the positioning mechanism 5 is achieved.

[0051] Next, the worm 58 is driven to rotate by the second knob 581. As the worm 58 starts to rotate, the worm wheel 54 is driven to rotate, so that the worm 58 drives the driving plate 53 to rotate. When the driving plate 53 starts to rotate, the driving hole 531 on the surface will be inclined, and the driving hole 531 on the surface will be used to apply a driving force to the moving rod 56, so as to achieve the purpose of driving the moving rod 56 to move. During the movement, the moving rod 56 will also move inside the second limiting hole 551, so that when the moving rod 56 drives the movable block 57 to move, the moving trajectory will be limited by the second limiting hole 551. As multiple movable blocks 57 start to move at the same time, the multiple movable blocks 57 will gather together. When the multiple movable blocks 57 start to gather together, the injection hose 2 passing through the driving block and the limiting plate 55 will be positioned, thereby completing the positioning of the injection hose 2. The second limiting block 561 can limit the moving space of the moving rod 56 during its movement, so that the moving rod 56 is always located inside the driving hole 531 and the second limiting hole 551, thereby ensuring the purpose of normally controlling the gathering of the multiple movable blocks 57.

[0052] Then, when injecting bone cement, the mechanical arm body 1 cooperates with the injection hose 2, and the movable rod 528 is used to telescope inside the sleeve 526, and the friction between the movable rod 528 and the sleeve 526 can freely adjust the height of the support block 527, so as to adjust the appropriate position when supporting the injection hose 2. After a threaded rod is provided on one side of the sleeve 526 to penetrate and abut the movable rod 528, the friction between the threaded rod and the movable rod 528 can increase the weight of the injection hose 2 that can be supported by the support block 527.

[0053] The rotating column 522 is rotatably connected to the mounting plate 51, and the bottom plate 521 can be rotated, so that the bottom plate 521 can adjust the angle of the support block 527 when rotating, thereby improving the injection accuracy when injecting bone cement into the injection hose 2. In addition, the rotating frame 524 has two ends rotatably connected to the first support frame 523, and the other two ends of the rotating frame 524 are rotatably connected to the second support frame 525, so that the sleeve 526 can be adjusted and rotated in the XY axis when turning, so as to achieve the purpose of freely adjusting the position of the support block 527.

[0054] Finally, as the movable rod 528 is pulled upward from the inside of the sleeve 526, the XY axis adjustment is completed using the rotating frame 524, the first support frame 523 and the second support frame 525. Therefore, the position of the injection hose 2 can be freely adjusted during surgical injection. In this process, the injection hose 2 can be prevented from bending and the injection direction can be accurately controlled.

[0055] 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 robotic arm for bone cement surgery with a support structure, comprising a robotic arm body (1), a support rod (3) is fixedly connected to the bottom of the robotic arm body (1), and an injection hose (2) is fixedly connected to one end of the robotic arm body (1). Characterized in that: An adjustment mechanism (4) is installed at the top of the support rod (3), and a positioning mechanism (5) is installed at the top of the adjustment mechanism (4); The positioning mechanism (5) includes a mounting plate (51), a driving plate (53) and a limiting plate (55). Two fixing plates (511) are fixedly connected to the top of the mounting plate (51). A worm (58) is rotatably connected between the two fixing plates (511). The bottom of the limiting plate (55) is fixedly connected to the top of the mounting plate (51). A second limiting hole (551) is formed on the surface of the limiting plate (55). A worm gear (54) is fixedly connected to the outer edge of the driving plate (53). The bottom of the worm gear (54) is meshed with the worm (58). A driving hole (531) is formed on the surface of the driving plate (53). A plurality of moving rods (56) are arranged between the driving plate (53) and the limiting plate (55). A movable block (57) is fixedly connected to the middle of the moving rod (56). One end of the moving rod (56) passes through the driving hole (531), and the other end of the moving rod (56) passes through the second limiting hole (551). Second limiting blocks (561) are fixedly connected to both ends of the moving rod (56). A support member (52) is fixedly connected to the top of the mounting plate (51); The support member (52) includes a bottom plate (521) and a sleeve (526). A first support frame (523) is fixedly connected to the top of the bottom plate (521). Both ends of the first support frame (523) are rotatably connected to a rotating frame (524). A second support frame (525) is fixedly connected to the bottom of the sleeve (526). The other two ends of the second support frame (525) are rotatably connected to the rotating frame (524). A movable rod (528) is slidably connected inside the sleeve (526).

2. The robotic arm for bone cement surgery with a support structure according to claim 1, Characterized in that: A second knob (581) is rotatably connected to one side of one of the fixing plates (511). One end of the second knob (581) is fixedly connected to the worm (58). The width of the driving hole (531) and the width of the second limiting hole (551) are both smaller than the diameter of the second limiting block (561). Through holes are formed in the centers of the driving plate (53) and the limiting plate (55).

3. The robotic arm for bone cement surgery with a support structure according to claim 1, Characterized in that: A rotating column (522) is fixedly connected to the bottom of the bottom plate (521). The bottom end of the rotating column (522) is rotatably connected to the mounting plate (51). A support block (527) is fixedly connected to the top end of the movable rod (528). The rotating frame (524) is located inside the first support frame (523) and the second support frame (525).

4. A robotic arm for bone cement surgery with a support structure according to claim 1, characterized in that: The adjusting mechanism (4) includes a mounting frame (41), a support plate (45) is fixedly connected to the top of the mounting frame (41), and a lead screw (44) is arranged inside the mounting frame (41). A sliding block (42) is threadedly connected to the surface of the lead screw (44). A chute (452) is formed in the middle of the support plate (45), a moving hole (451) is formed in the center of the chute (452), a moving block (471) is slidably connected inside the chute (452), the top end of the sliding block (42) passes through the moving hole (451), and the top end of the sliding block (42) is fixedly connected to the bottom of the moving block (471).

5. A robotic arm for bone cement surgery with a support structure according to claim 4, characterized in that: A rack (47) is fixedly connected to the top of the sliding block (42), a half gear (48) is meshed above the rack (47), the top of the half gear (48) is fixedly connected to the center of the bottom of the mounting plate (51), and a rotating shaft (481) is fixedly connected to the inner surface of the half gear (48).

6. A robotic arm for bone cement surgery with a support structure according to claim 5, characterized in that: Side plates (46) are fixedly connected to both sides of the top of the support plate (45). A first limit hole (461) is formed at the top end of the side plate (46). Both ends of the rotating shaft (481) are rotatably connected to the side plate (46).

7. A robotic arm for bone cement surgery with a support structure according to claim 5, characterized in that: Limit rods (49) are fixedly connected to both sides of the top of the half gear (48). One end of the limit rod (49) passes through the first limit hole (461), and a first limit block (491) is fixedly connected to one end of the limit rod (49).

8. A robotic arm for bone cement surgery with a support structure according to claim 6, characterized in that: The diameter of the first limit hole (461) is smaller than the diameter of the first limit block (491), and the cross-section of the moving block (471) is a trapezoidal structure.

9. A robotic arm for bone cement surgery with a support structure according to claim 4, characterized in that: Two sliding rods (43) are fixedly connected to the inside of the mounting frame (41), and the sliding rods (43) are slidably connected to the sliding block (42).

10. A robotic arm for bone cement surgery with a support structure according to claim 9, characterized in that: A first knob (441) is rotatably connected to one side of the mounting frame (41). One end of the first knob (441) is fixedly connected to the lead screw (44), and one end of the lead screw (44) is rotatably connected to the inner wall of the mounting frame (41).

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