Surgical robot mechanical arm for quantitatively conveying bone cement

Abstract

The invention discloses a surgical robot mechanical arm for quantitatively conveying bone cement, and relates to the field of bone cement injection robotics.The surgical robot mechanical arm comprises a mechanical arm body, a quantifying assembly is movably connected to one side of the mechanical arm body, an injection assembly is fixedly connected to one end of the quantifying assembly, and an injection pipe is movably connected to one end of the mechanical arm body; the quantifying assembly comprises a positioning plate, a micro motor, a first gear and a second gear. The injection assembly used for conveying the bone cement is arranged on the side face of the mechanical arm body, the injection assembly controls the single injection amount through the quantitative assembly, the micro motor provides power for operation of the whole device, the step of adjusting forward and reverse rotation switching of the motor is omitted, and therefore the service life of the micro motor is prolonged; in the whole process, the injection pipe does not need to be moved, a cavity cannot be generated in the injection pipe, and it is guaranteed that bone cement can be continuously and stably injected into the vertebrae.

Description

Technical Field

[0001] The present invention relates to the technical field of bone cement injection robots, and specifically to a robotic arm for surgical robots that quantitatively transports bone cement. Background Art

[0002] A bone cement injection robot is an advanced medical device used in orthopedic surgeries. It is used in fracture repair surgeries. Through precise positioning and injection functions, it can help doctors accurately inject bone cement into the fracture site of patients, thereby strengthening and stabilizing the fracture and promoting fracture healing.

[0003] In the prior art, such as the "Control Method of a Bone Cement Injection Surgical Robot" with the patent number CN108451641A, the control method of this bone cement injection surgical robot includes: a pretreatment step: determining the vertebrae that need to be injected with bone cement and performing puncture at the surgical site; preparing bone cement and installing a bone cement sleeve on the bone cement injection surgical robot; an injection step: controlling the injection motor to rotate forward to push the push rod on the bone cement sleeve to inject the bone cement into the vertebrae at a predetermined injection speed; a retraction step: controlling the consumable motor to rotate reversely to drive the delivery tube to retract a predetermined distance at a predetermined retraction speed, and repeating the injection step to the retraction step N times until the bone cement in the vertebrae reaches the predetermined amount.

[0004] However, in the prior art, during the injection of bone cement, it is necessary to control the motor to rotate forward and backward multiple times to inject the predetermined amount of bone cement into the vertebrae. The multiple forward and backward rotations of the motor will directly affect its own service life. And during the process of the motor changing from forward rotation to reverse rotation, a certain suction force will be generated in the delivery tube. At this time, it is necessary to move the delivery tube out to ensure that the injected bone cement will not be drawn out. Therefore, while controlling the forward and backward rotation of the motor, it is also necessary to adjust the position of the input tube, which easily causes the input tube to be contaminated by the outside world, and it will also cause cavities to be generated in the input tube, which will also affect the secondary injection. Summary of the Invention

[0005] The purpose of the present invention is to provide a robotic arm for surgical robots that quantitatively transports bone cement, so as to solve the problem in the above background art that while controlling the forward and backward rotation of the motor, it is also necessary to adjust the position of the input tube, which is time-consuming and laborious and easily causes the input tube to be contaminated by the outside world.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A robotic arm for surgical robots that quantitatively transports bone cement, including a robotic arm main body. One side of the robotic arm main body is movably connected with a quantitative component. One end of the quantitative component is fixedly connected with an injection component. One end of the robotic arm main body is movably connected with an injection tube;

[0007] The metering component includes a positioning plate, a micro motor, a first gear and a second gear. The second gear is rotatably installed on one side of the positioning plate. The second gear is meshed with the first gear. The second gear is directly above the first gear. One end of the driving rod of the micro motor is fixedly connected to the inside of the first gear;

[0008] One side of the first gear is fixedly connected with a first central rotating rod. One end of the first central rotating rod is fixedly connected with a first transmission rod. One side of the first transmission rod is rotatably connected with a first connecting rod. One side of the first connecting rod is rotatably connected with a first driven rod. One end of the first driven rod is fixedly connected with a first positioning rod. A first inclined rod is rotatably connected between the first connecting rod and the first driven rod. One side of the first inclined rod is rotatably connected with a first vertical rod. One side of the first vertical rod is fixedly installed with a first push rod. One end of the first push rod is fixedly installed with a first filling plate;

[0009] The injection component includes a metering cylinder, a conveying hose, a docking pipeline and a storage tank. The docking pipeline is fixedly installed on both sides of the metering cylinder. The docking pipeline is communicated with the metering cylinder. One end of the storage tank is inserted into the inside of one docking pipeline. One end of the conveying hose is fixedly connected to the inside of the other docking pipeline. The other end of the conveying hose is inserted into the inside of the injection tube. The first filling plate is located inside the metering cylinder.

[0010] Preferably, one side of the second gear is fixedly connected with a second central rotating rod. One end of the second central rotating rod is fixedly connected with a second transmission rod. One side of the second transmission rod is rotatably connected with a second connecting rod. One side of the second connecting rod is rotatably connected with a second driven rod. One end of the second driven rod is fixedly connected with a second positioning rod.

[0011] Preferably, a second inclined rod is rotatably connected between the second connecting rod and the second transmission rod. One side of the second inclined rod is rotatably connected with a second vertical rod. One side of the second vertical rod is fixedly installed with a second push rod. One end of the second push rod is fixedly installed with a second filling plate.

[0012] Preferably, the first push rod penetrates through the second push rod. The second push rod is sleeved on the outer wall of the first push rod. The length of the first push rod is longer than that of the second push rod. The first filling plate is located on one side of the second filling plate.

[0013] Preferably, both the first filling plate and the second filling plate are located inside the metering cylinder. The first filling plate and the second filling plate are respectively located on both sides of the docking pipeline. One end of the second push rod penetrates through the metering cylinder. The second push rod is slidably connected with the metering cylinder.

[0014] Preferably, one side of the positioning plate is fixedly connected with a partition frame. One ends of the first positioning rod and the second positioning rod are rotatably connected inside the partition frame. The first gear and the second gear are located between the positioning plate and the partition frame. The first central rotating rod and the second central rotating rod both penetrate through the partition frame.

[0015] Preferably, a docking plate is fixedly installed on one side of the partition frame. One end of the partition frame is fixedly connected with a support platform. The bottom of the storage tank is lapped on the top of the support platform.

[0016] Preferably, a docking block is fixedly installed on one side of the robotic arm main body. One end of the docking plate is inserted into the inside of the docking block. A limit clamping block is inserted into the top of the docking block, and the limit clamping block is inserted into the inside of the docking plate.

[0017] Preferably, a fixing plate is fixedly installed on the inner wall of the docking pipe, and a through hole is formed inside the fixing plate.

[0018] Preferably, a sliding rod is slidably connected inside the fixing plate. One end of the sliding rod is fixedly installed with an anti-detachment block, and the other end of the sliding rod is fixedly installed with a sealing plate.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. In the present invention, an injection assembly for conveying bone cement is arranged on the side of the robotic arm main body. The injection amount per time of the injection assembly is controlled by a metering assembly. The operation of the whole device is powered by a micro motor, saving the steps of adjusting the forward and reverse rotation of the motor back and forth, so as to extend the service life of the micro motor. The metering assembly controls the injection of bone cement by driving the first filling plate and the second filling plate back and forth. When the first filling plate and the second filling plate approach each other, the bone cement will be pressed into the injection tube. When the first filling plate and the second filling plate move away from each other, the injection tube will be closed, and then the bone cement will be obtained from the storage tank and replenished into the metering cylinder again. Subsequently, the first filling plate and the second filling plate approach each other again to press the bone cement into the injection tube. The whole process does not require moving the injection tube, and no cavity will be generated in the injection tube, ensuring that the bone cement can be continuously and stably injected into the vertebra.

[0021] 2. In the present invention, the moving direction of the first filling plate is controlled by the first push rod, and the first push rod is controlled by the first inclined rod. The moving direction of the second filling plate is controlled by the second push rod, and the second push rod is controlled by the second inclined rod. The orientations of the first inclined rod and the second inclined rod are completely opposite, and they are respectively driven by the first gear and the second gear, and the first gear and the second gear are meshed together. Therefore, the rotation directions are also in opposite states, thus achieving the purpose of the first filling plate and the second filling plate moving away from each other and the first filling plate and the second filling plate moving closer to each other, ensuring the stable output of bone cement; and the first push rod is located in the second push rod, which can ensure the stability of the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of a robotic arm for quantitatively delivering bone cement according to the present invention;

[0023] Figure 2 is a schematic diagram of the connection and structure of the quantitative component, injection component and injection tube of a robotic arm for quantitatively delivering bone cement according to the present invention;

[0024] Figure 3 is a three-dimensional structural schematic diagram of the quantitative component and injection component of a robotic arm for quantitatively delivering bone cement according to the present invention;

[0025] Figure 4 is a schematic structural diagram of the quantitative component of a robotic arm for quantitatively delivering bone cement according to the present invention;

[0026] Figure 5 is a side view of the internal structure of the quantitative component of a robotic arm for quantitatively delivering bone cement according to the present invention;

[0027] Figure 6 is a schematic diagram of the connection and structure of the quantitative component and injection component of a robotic arm for quantitatively delivering bone cement according to the present invention;

[0028] Figure 7 For the present invention Figure 6 is an enlarged schematic diagram of the structure of part A.

[0029] In the figure: 1, the main body of the robotic arm; 2, the metering component; 3, the injection component; 4, the injection tube; 5, the docking block; 6, the limit clamping block; 21, the positioning plate; 22, the support platform; 23, the partition frame; 24, the docking plate; 25, the micro motor; 26, the first gear; 27, the second gear; 28, the first central rotating rod; 29, the first transmission rod; 210, the first connecting rod; 211, the first driven rod; 212, the first positioning rod; 213, the first inclined rod; 214, the first vertical rod; 215, the first push rod; 216, the first filling plate; 217, the second central rotating rod; 218, the second transmission rod; 219, the second connecting rod; 220, the second driven rod; 221, the second positioning rod; 222, the second inclined rod; 223, the second vertical rod; 224, the second push rod; 225, the second filling plate; 31, the metering cylinder; 32, the conveying hose; 33, the docking pipeline; 34, the storage tank; 35, the fixing plate; 36, the through hole; 37, the sliding rod; 38, the anti - detachment block; 39, the plugging plate. Detailed implementation manners

[0030] 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 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.

[0031] Embodiment 1

[0032] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6As shown in the figure: A surgical robot arm for quantitatively delivering bone cement, including a robot arm main body 1, a quantitative component 2 is movably connected to one side of the robot arm main body 1, one end of the quantitative component 2 is fixedly connected to an injection component 3, one end of the robot arm main body 1 is movably connected to an injection tube 4. The quantitative component 2 includes a positioning plate 21, a micro motor 25, a first gear 26 and a second gear 27. The second gear 27 is rotatably installed on one side of the positioning plate 21, and the second gear 27 is meshed with the first gear 26. The second gear 27 is directly above the first gear 26. One end of the driving rod of the micro motor 25 is fixedly connected to the inside of the first gear 26. One side of the first gear 26 is fixedly connected to a first central rotating rod 28. One end of the first central rotating rod 28 is fixedly connected to a first transmission rod 29. One side of the first transmission rod 29 is rotatably connected to a first connecting rod 210. One side of the first connecting rod 210 is rotatably connected to a first driven rod 211. One end of the first driven rod 211 is fixedly connected to a first positioning rod 212. A first inclined rod 213 is rotatably connected between the first connecting rod 210 and the first driven rod 211. One side of the first inclined rod 213 is rotatably connected to a first vertical rod 214. A first push rod 215 is fixedly installed on one side of the first vertical rod 214. One end of the first push rod 215 is fixedly installed with a first filling plate 216. The injection component 3 includes a quantitative cylinder 31, a conveying hose 32, a docking pipe 33 and a storage tank 34. The docking pipe 33 is fixedly installed on both sides of the quantitative cylinder 31. The docking pipe 33 is communicated with the quantitative cylinder 31. One end of the storage tank 34 is inserted into the inside of one docking pipe 33. One end of the conveying hose 32 is fixedly connected to the inside of the other docking pipe 33. The other end of the conveying hose 32 is inserted into the inside of the injection tube 4. The first filling plate 216 is located inside the quantitative cylinder 31.

[0033] In this embodiment, the quantitative component 2 is movably installed on the side of the robot arm main body 1, and one end of the quantitative component 2 is movably connected to the inside of the injection component 3. The injection component 3 is communicated with the injection tube 4. When in use, the storage tank 34 filled with bone cement is inserted into the docking pipe 33, and the bone cement is injected into the inside of the quantitative cylinder 31. The quantitative cylinder 31 is specifically a cylinder, and the internal capacity can be calculated by multiplying the area by the length.

[0034] After injecting the bone cement, start the micro motor 25 to drive the first gear 26 to rotate. When the first gear 26 rotates, it will drive the second gear 27. The rotation direction of the second gear 27 is opposite to that of the first gear 26. The rotation of the first gear 26 will drive the first connecting rod 210 and the first driven rod 211 to rotate synchronously through the first transmission rod 29. The first positioning rod 212 at the other end of the first driven rod 211 is on the same axis as the first central rotating rod 28, ensuring that there will be no angular change.

[0035] During the rotation of the first connecting rod 210, a first inclined rod 213 and a second inclined rod 222 will be driven to rotate simultaneously. However, since the first inclined rod 213 is connected to the first vertical rod 214, the second inclined rod 222 is connected to the second vertical rod 223, and the first push rod 215 and the second push rod 224 are inserted together, the rotation of the first inclined rod 213 will push the first vertical rod 214 to move, and the rotation of the second inclined rod 222 will drive the second vertical rod 223 to move. Moreover, since the first inclined rod 213 and the second inclined rod 222 are respectively located on both sides of the first connecting rod 210, the first transmission rod 29 and the first driven rod 211 face in completely opposite directions and there is a height difference, which makes the moving directions of the first vertical rod 214 and the second vertical rod 223 in a completely opposite state;

[0036] When the first filling plate 216 and the second filling plate 225 approach each other, bone cement will be pressed into a butting pipe 33 and then enter the injection tube 4. When the first filling plate 216 and the second filling plate 225 move away from each other, the injection tube 4 will be closed, and instead, bone cement will be obtained from the storage tank 34 and replenished into the metering cylinder 31 again. Subsequently, the first filling plate 216 and the second filling plate 225 approach each other again to press the bone cement into the injection tube 4. The entire process does not require moving the injection tube 4, and no cavity will be generated in the injection tube 4.

[0037] Embodiment 2

[0038] According to Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6As shown in the figure, the metering component 2 includes a positioning plate 21, a micro motor 25, a first gear 26 and a second gear 27. The second gear 27 is rotatably installed on one side of the positioning plate 21. The second gear 27 is meshed with the first gear 26. The second gear 27 is directly above the first gear 26. One end of the driving rod of the micro motor 25 is fixedly connected to the inside of the first gear 26. One side of the first gear 26 is fixedly connected to a first central rotating rod 28. One end of the first central rotating rod 28 is fixedly connected to a first transmission rod 29. One side of the first transmission rod 29 is rotatably connected to a first connecting rod 210. One side of the first connecting rod 210 is rotatably connected to a first driven rod 211. One end of the first driven rod 211 is fixedly connected to a first positioning rod 212. A first inclined rod 213 is rotatably connected between the first connecting rod 210 and the first driven rod 211. One side of the first inclined rod 213 is rotatably connected to a first vertical rod 214. One side of the first vertical rod 214 is fixedly installed with a first push rod 215. One end of the first push rod 215 is fixedly installed with a first filling plate 216. One side of the second gear 27 is fixedly connected to a second central rotating rod 217. One end of the second central rotating rod 217 is fixedly connected to a second transmission rod 218. One side of the second transmission rod 218 is rotatably connected to a second connecting rod 219. One side of the second connecting rod 219 is rotatably connected to a second driven rod 220. One end of the second driven rod 220 is fixedly connected to a second positioning rod 221. A second inclined rod 222 is rotatably connected between the second connecting rod 219 and the second transmission rod 218. One side of the second inclined rod 222 is rotatably connected to a second vertical rod 223. One side of the second vertical rod 223 is fixedly installed with a second push rod 224. One end of the second push rod 224 is fixedly installed with a second filling plate 225. The first push rod 215 penetrates through the second push rod 224. The second push rod 224 is sleeved on the outer wall of the first push rod 215. The length of the first push rod 215 is longer than that of the second push rod 224. The first filling plate 216 is located on one side of the second filling plate 225. Both the first filling plate 216 and the second filling plate 225 are located inside the metering cylinder 31. The first filling plate 216 and the second filling plate 225 are respectively located on both sides of the docking pipe 33. One end of the second push rod 224 penetrates through the metering cylinder 31. The second push rod 224 is slidably connected with the metering cylinder 31.

[0039] In this embodiment, the rotation direction of the second gear 27 is opposite to that of the first gear 26. During the rotation of the second gear 27, the second connecting rod 219 and the second driven rod 220 will be driven by the second transmission rod 218 to rotate synchronously. The second positioning rod 221 at the other end of the second driven rod 220 is on the same axis as the second central rotating rod 217;

[0040] During the rotation of the second connecting rod 219, it will simultaneously drive another first inclined rod 213 and another second inclined rod 222 to rotate. The rotation directions of the two first inclined rods 213 are opposite, but the angles are the same. The rotation directions of the two second inclined rods 222 are opposite, and the angles are the same, thus ensuring that the moving directions of the first vertical rod 214 and the second vertical rod 223 are always opposite. The moving distances of the first vertical rod 214 and the second vertical rod 223 determine the amount of bone cement injected each time. And since the lengths of the first inclined rod 213 and the second inclined rod 222 do not change, the injection amount each time is a fixed quantity, and there will be no problem of excessive or insufficient injection.

[0041] Embodiment III

[0042] According to Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown in

[0043] In this embodiment, the positioning plate 21 determines the position of the micro motor 25, while the partition frame 23 determines the positions of the first positioning rod 212 and the second positioning rod 221, ensuring the structural stability during the operation of the entire metering assembly 2. The entire metering assembly 2 is connected to the docking block 5 through the docking plate 24 on the side. After connecting the docking plate 24 and the docking block 5 together, inserting the limit card block 6 into the docking plate 24 can complete the locking of the metering assembly 2.

[0044] Embodiment IV

[0045] According to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 7As shown, the injection assembly 3 includes a metering cylinder 31, a delivery hose 32, a docking pipe 33, and a storage tank 34. The docking pipe 33 is fixedly installed on both sides of the metering cylinder 31. The docking pipe 33 is communicated with the metering cylinder 31. One end of the storage tank 34 is inserted into the interior of a docking pipe 33. One end of the delivery hose 32 is fixedly connected to the interior of the other docking pipe 33. The other end of the delivery hose 32 is inserted into the interior of the injection tube 4. The first filling plate 216 is located inside the metering cylinder 31. A fixing plate 35 is fixedly installed on the inner wall of the docking pipe 33. A through hole 36 is formed inside the fixing plate 35. A sliding rod 37 is slidably connected inside the fixing plate 35. One end of the sliding rod 37 is fixedly installed with an anti-disengagement block 38. The other end of the sliding rod 37 is fixedly installed with a sealing plate 39.

[0046] In this embodiment, when the first filling plate 216 and the second filling plate 225 approach each other, the bone cement is squeezed. At this time, the anti-disengagement block 38 in the docking pipe 33 below will be pushed downward, but the anti-disengagement block 38 cannot cover the through hole 36. Therefore, the bone cement will be pressed into the injection tube 4. The anti-disengagement block 38 in the docking pipe 33 above will be pushed upward, so that the sealing plate 39 blocks the through hole 36 in the fixing plate 35, preventing the replenishment of the bone cement.

[0047] When the first filling plate 216 and the second filling plate 225 move away from each other, at this time, the space between the first filling plate 216 and the second filling plate 225 becomes smaller, generating a suction force, which will suck the anti-disengagement block 38 at the bottom upward. The through hole 36 is blocked by the sealing plate 39 to complete the sealing of the docking pipe 33. At the same time, the anti-disengagement block 38 in the docking pipe 33 above is sucked downward, causing the sealing plate 39 to leave the fixing plate 35, exposing the through hole 36 to allow the bone cement to be replenished into the metering cylinder 31. The whole process does not require moving the injection tube 4, and no cavity will be generated inside the injection tube 4, ensuring that the bone cement can be continuously and stably injected into the vertebra.

[0048] The usage method and working principle of this device: When in use, insert the docking plate 24 into the side of the docking block 5, and then insert the limit clamping block 6 downward into the docking plate 24 to complete the locking of the metering assembly 2. Subsequently, insert the storage tank 34 filled with bone cement into the docking pipe 33.

[0049] After the storage tank 34 is deployed, start the micro motor 25 to drive the first gear 26 to rotate. When the first gear 26 rotates, it will drive the second gear 27. The rotation direction of the second gear 27 is opposite to that of the first gear 26. The rotation of the first gear 26 will drive the first connecting rod 210 and the first driven rod 211 to rotate synchronously through the first transmission rod 29, while the rotation of the second gear 27 will drive the second connecting rod 219 and the second driven rod 220 to rotate synchronously through the second transmission rod 218. During the rotation of the first connecting rod 210, it will simultaneously drive a first inclined rod 213 and a second inclined rod 222 to rotate. During the rotation of the second connecting rod 219, it will simultaneously drive another first inclined rod 213 and another second inclined rod 222 to rotate;

[0050] Since the first inclined rod 213 is connected to the first vertical rod 214, the second inclined rod 222 is connected to the second vertical rod 223, and the first push rod 215 and the second push rod 224 are inserted together, the rotation of the first inclined rod 213 will push the first vertical rod 214 to move, and the rotation of the second inclined rod 222 will drive the second vertical rod 223 to move. And because the first inclined rod 213 and the second inclined rod 222 are respectively located on both sides of the first connecting rod 210, the first transmission rod 29 and the first driven rod 211 face in completely opposite directions and there is a height difference, which makes the rotation directions of the two first inclined rods 213 opposite but the angles the same, and the rotation directions of the two second inclined rods 222 are opposite and the angles are the same, so as to ensure that the moving directions of the first vertical rod 214 and the second vertical rod 223 are in completely opposite states;

[0051] When the first filling plate 216 and the second filling plate 225 approach each other, the anti - detachment block 38 in the lower docking pipe 33 will be pushed downward, exposing the through - hole 36 in the fixing plate 35, and the bone cement is pressed into the injection tube 4. The blocking plate 39 in the upper docking pipe 33 will block the through - hole 36 in the fixing plate 35 to prevent the replenishment of the bone cement;

[0052] When the first filling plate 216 and the second filling plate 225 move away from each other, at this time the space between the first filling plate 216 and the second filling plate 225 becomes smaller, generating suction, which will suck the anti - detachment block 38 at the bottom upward, use the blocking plate 39 to block the through - hole 36 to complete the sealing of the docking pipe 33. At the same time, the anti - detachment block 38 in the upper docking pipe 33 is sucked downward, causing the blocking plate 39 to leave the fixing plate 35, exposing the through - hole 36 to allow the bone cement to be replenished into the metering cylinder 31. The whole process does not require moving the injection tube 4 and will not generate cavities in the injection tube 4, ensuring that the bone cement can be continuously and stably injected into the vertebra.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robotic arm for a surgical robot for quantitatively delivering bone cement, comprising a robotic arm main body (1), Characterized in that: One side of the robotic arm main body (1) is movably connected with a quantitative component (2), one end of the quantitative component (2) is fixedly connected with an injection component (3), and one end of the robotic arm main body (1) is movably connected with an injection tube (4); The quantitative component (2) includes a positioning plate (21), a micro motor (25), a first gear (26) and a second gear (27). The second gear (27) is rotatably installed on one side of the positioning plate (21). The second gear (27) is meshed with the first gear (26). The second gear (27) is directly above the first gear (26). One end of the driving rod of the micro motor (25) is fixedly connected inside the first gear (26); One side of the first gear (26) is fixedly connected with a first central rotating rod (28). One end of the first central rotating rod (28) is fixedly connected with a first transmission rod (29). One side of the first transmission rod (29) is rotatably connected with a first connecting rod (210). One side of the first connecting rod (210) is rotatably connected with a first driven rod (211). One end of the first driven rod (211) is fixedly connected with a first positioning rod (212). A first inclined rod (213) is rotatably connected between the first connecting rod (210) and the first driven rod (211). One side of the first inclined rod (213) is rotatably connected with a first vertical rod (214). One side of the first vertical rod (214) is fixedly installed with a first push rod (215). One end of the first push rod (215) is fixedly installed with a first filling plate (216); The injection component (3) includes a quantitative cylinder (31), a conveying hose (32), a docking pipeline (33) and a storage tank (34). The docking pipeline (33) is fixedly installed on both sides of the quantitative cylinder (31). The docking pipeline (33) is communicated with the quantitative cylinder (31). One end of the storage tank (34) is inserted inside one docking pipeline (33). One end of the conveying hose (32) is fixedly connected inside the other docking pipeline (33). The other end of the conveying hose (32) is inserted inside the injection tube (4). The first filling plate (216) is located inside the quantitative cylinder (31).

2. The robotic arm for a surgical robot for quantitatively delivering bone cement according to claim 1, Characterized in that: One side of the second gear (27) is fixedly connected with a second central rotating rod (217). One end of the second central rotating rod (217) is fixedly connected with a second transmission rod (218). One side of the second transmission rod (218) is rotatably connected with a second connecting rod (219). One side of the second connecting rod (219) is rotatably connected with a second driven rod (220). One end of the second driven rod (220) is fixedly connected with a second positioning rod (221).

3. The robotic arm for a surgical robot for quantitatively delivering bone cement according to claim 2, Characterized in that: A second inclined rod (222) is rotatably connected between the second connecting rod (219) and the second transmission rod (218). A second vertical rod (223) is rotatably connected to one side of the second inclined rod (222). A second push rod (224) is fixedly installed on one side of the second vertical rod (223). A second filling plate (225) is fixedly installed at one end of the second push rod (224).

4. The robotic arm for quantitatively delivering bone cement according to claim 3, characterized in that: The first push rod (215) penetrates through the second push rod (224). The second push rod (224) is sleeved on the outer wall of the first push rod (215). The length of the first push rod (215) is longer than that of the second push rod (224). The first filling plate (216) is located on one side of the second filling plate (225).

5. The robotic arm for quantitatively delivering bone cement according to claim 4, characterized in that: Both the first filling plate (216) and the second filling plate (225) are located inside the metering cylinder (31). The first filling plate (216) and the second filling plate (225) are respectively located on both sides of the docking pipe (33). One end of the second push rod (224) penetrates through the metering cylinder (31). The second push rod (224) is slidably connected to the metering cylinder (31).

6. The robotic arm for quantitatively delivering bone cement according to claim 3, characterized in that: One side of the positioning plate (21) is fixedly connected with a partition frame (23). One ends of the first positioning rod (212) and the second positioning rod (221) are both rotatably connected inside the partition frame (23). The first gear (26) and the second gear (27) are located between the positioning plate (21) and the partition frame (23). The first central rotating rod (28) and the second central rotating rod (217) both penetrate through the partition frame (23).

7. The robotic arm for quantitatively delivering bone cement according to claim 6, characterized in that: One side of the partition frame (23) is fixedly installed with a docking plate (24). One end of the partition frame (23) is fixedly connected with a support platform (22). The bottom of the storage tank (34) is lapped on the top of the support platform (22).

8. The robotic arm for quantitatively delivering bone cement according to claim 7, characterized in that: One side of the robotic arm main body (1) is fixedly installed with a docking block (5). One end of the docking plate (24) is inserted into the inside of the docking block (5). A limit clamping block (6) is inserted into the top of the docking block (5). The limit clamping block (6) is inserted into the inside of the docking plate (24).

9. The robotic arm for quantitatively delivering bone cement according to claim 1, characterized in that: A fixing plate (35) is fixedly installed on the inner wall of the docking pipe (33). A through hole (36) is opened inside the fixing plate (35).

10. The robotic arm for quantitatively delivering bone cement according to claim 9, characterized in that: A sliding rod (37) is slidably connected inside the fixing plate (35). One end of the sliding rod (37) is fixedly installed with an anti-disengagement block (38), and the other end of the sliding rod (37) is fixedly installed with a blocking plate (39).

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