Osteotomy surgical robot with cutter capable of moving in multiple directions

Abstract

The invention discloses an osteotomy surgical robot with a cutter capable of moving in multiple directions, and relates to the technical field of medical surgical instruments. The device comprises a fixing plate, two first sliding rails are installed on one side of the fixing plate, a first sliding seat is slidably connected between the two first sliding rails, a second sliding rail and a vertical moving piece are installed on one side of the first sliding seat, a second sliding seat is installed between the second sliding rail and the vertical moving piece, a mechanical arm is installed on one side of the second sliding seat, and a positioning part is installed at one end of the mechanical arm. A cutting piece is rotationally connected to the end of the positioning part, a vision washing pipe is installed on one side of the cutting piece, a handle and a display screen are installed on one side of the end of the positioning part, and a scalpel is installed in the cutting piece. By arranging the two sliding seats and installing the mechanical arm with the cutting part, the robot has multiple degrees of freedom in use, so that the cutting positioning precision is improved, and the cutting is more fit with a prosthesis standard part by limiting the scalpel and providing a cutting visual angle, so that the wearing comfort is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical instruments, and in particular to an osteotomy surgical robot with a tool capable of moving in multiple directions. Background Art

[0002] As the condition of patients with knee joint diseases gradually worsens, they often need knee prosthesis replacement surgery in the late stage of the disease to restore knee joint function. During the operation, the doctor needs to use a scalpel to remove the bone spurs in the joint space after judging the balance of the joint space, and then install an artificial knee prosthesis. With the development of technology, more and more surgical robots are used to assist in surgery.

[0003] The patent specification with the publication number CN112971988A discloses a knee replacement surgical robot, which includes a rotation adjustment component, which includes: a first connecting member, the first connecting member is provided with an arc groove; a self-locking member, the self-locking member is provided with a first positioning pin and a second positioning pin, the first positioning pin and the second positioning pin are embedded in the arc groove, and the length of the first positioning pin is greater than the length of the second positioning pin; a second connecting member, the second connecting member and the self-locking member are connected torsionally; a pin shaft, the first connecting member and the second connecting member are connected to each other in a relatively rotatable manner through the pin shaft; and an elastic member, the elastic member pushes the self-locking member toward the first connecting member so that the first positioning pin and the second positioning pin are embedded in the arc groove; When this type of surgical robot is in use, the adjustment component is rotated to locate the rotation position of the mechanical arm. After the positioning is completed, the trigger is pressed to activate the saw blade at the end to perform osteotomy at the located position. The disadvantage of this technical solution is that when knee joint patients replace their knee joint prostheses, except for very rare cases such as severe bone deformity or bone defects, in most cases, they still need to choose a standardized prosthesis that is closest to their own body shape, and then the doctor will trim the osteophytes and bones during the operation before installing them. However, when the saw blade is controlled by a robotic arm to cut the knee joint, the cutting direction of the saw blade is fixed and the robotic arm cannot detect the specific cutting position, resulting in structural differences between the shape of the knee joint after cutting and the standardized prosthesis, resulting in poor matching during installation and adaptation. Summary of the invention

[0004] The purpose of the present invention is to provide a surgical robot for osteotomy with a tool that can move in multiple directions. The technical problems to be solved are as follows: there is a difference between the joint surface cut by the existing surgical robot during use and the installation surface of the standardized prosthesis, resulting in a low degree of fit during installation.

[0005] The purpose of the present invention can be achieved through the following technical solutions: An osteotomy surgical robot with a multi-directionally movable tool, comprising a fixing plate. On one side of the fixing plate, two first sliding rails are installed. A first sliding seat is slidably connected between the two first sliding rails. On one side of the first sliding seat, a second sliding rail and a vertical moving member are installed. A second sliding seat is installed between the second sliding rail and the vertical moving member. On one side of the second sliding seat, a robotic arm is installed. At one end of the robotic arm, a positioning part is installed. At the end of the positioning part, a cutting member is rotatably connected. On one side of the cutting member, a washing and viewing tube is installed, and on one side of the end, a handle is fixedly connected. On one side of the end of the positioning part, a handle and a display screen are installed. Inside the cutting member, a scalpel that is limited in movement is installed. The handle and the handle are used to adjust the cutting position of the scalpel. The washing and viewing tube is used to cooperate with the display screen to position the cutting position of the scalpel.

[0006] As a further solution of the present invention: On the top ends of the two first sliding rails, a first slider is slidably connected. The bottom surface of the first sliding seat is fixedly connected to the first slider, and in the middle, a displacement plate is fixedly connected. In the middle of one side of the fixing plate, two rotating seats are installed. A first screw rod is rotatably connected between the two rotating seats. The first screw rod is rotatably connected to the displacement plate, and at the end, a first motor is installed.

[0007] As a further solution of the present invention: The vertical moving member includes a displacement seat fixedly connected to one side of the first sliding seat. In the middle of the displacement seat, a second screw rod is rotatably connected. At the end of the second screw rod, a second motor is installed. On the top end of the second sliding rail, a second slider is slidably connected. On one side of the bottom surface of the second sliding seat, it is fixedly connected to the second slider, and on the other side, it is rotatably connected to the second screw rod. The first screw rod and the second screw rod are perpendicular to each other.

[0008] As a further solution of the present invention: The robotic arm includes a rotating base fixedly connected to the second sliding seat. At one end of the rotating base, a first rotating motor is rotatably connected. On one side of the first rotating motor, a displacement arm is rotatably connected. At one end of the displacement arm, a second rotating motor is installed. The positioning part is installed on one side of the second rotating motor.

[0009] As a further solution of the present invention: At the end of the positioning part, an installation opening is provided. Inside the end of the installation opening, a rotating shaft is provided, and the end of the cutting member is rotatably connected to the rotating shaft. On one side of the positioning part, a distance sensor is installed. The distance sensor is electrically connected to the display screen.

[0010] As a further solution of the present invention: The cutting member further includes a built-in cutting motor. At the output end of the cutting motor, a driving wheel is installed. On one side of the driving wheel, a driven wheel is engaged. At the bottom end of the driven wheel, a threaded rod is fixedly connected. The threaded rod is threadedly connected to a displacement block. On one side of the threaded rod, a guide rod is installed. On one side of the top end of the displacement block, it is slidably connected to the guide rod. At the bottom end of the displacement block, a tool rod is installed.

[0011] As a further solution of the present invention: The scalpel is fixedly connected to the end of the tool bar. The cutting member is fixedly connected with an outer sleeve at the end. A plurality of limiting ribs are fixedly connected along the circumferential side surface inside the outer sleeve. An inner sleeve is installed between the inner sides of the limiting ribs. The circumferential side surface of the inner sleeve is provided with limiting grooves adapted to the limiting ribs, and a limiting port is provided at the end. The tool bar is slidably connected to the inside of the inner sleeve, and the side of the scalpel is clamped with the adjacent side of the limiting port.

[0012] As a further solution of the present invention: One end of the tool bar is respectively provided with a detection lens hole and a flushing hole on both sides of the scalpel. The side of the tool bar close to the cutting motor is connected to the washing and viewing tube. The washing and viewing tube is internally provided with an inner detection lens and a flushing tube. The inner detection lens is electrically connected to the display screen and extends to the outer end of the detection lens hole. The flushing tube extends to the outer end of the flushing hole.

[0013] The beneficial effects of the present invention: 1. In the present invention, by installing a fixing plate on the wall of the operating room, installing a first sliding seat and a second sliding seat on the fixing plate, installing a robotic arm on the second sliding seat, and installing a cutting member at the end of the robotic arm, the whole robot has multiple degrees of freedom during use, enabling precise positioning at any position in space; and during positioning, preliminary position positioning is carried out through the first sliding seat and the second sliding seat, then rough positioning of the cutting position is carried out through the robotic arm, and finally the user manually transfers the mechanical positioning to manual positioning through the grip, the handle and the distance sensor. And during the final cutting, the inner detection lens and the flushing tube installed on both sides of the scalpel are used to flush and illuminate the cutting position, and the picture is transmitted back to the display screen on the manual adjustment side of the user; that is, the rough orientation of the cutting is quickly positioned by the machine, and then the cutting position is manually adjusted and the cutting position is calibrated by the inner detection lens, so that the advantages of rapid positioning and precise cutting are achieved when cutting osteophytes; then after cutting, the cutting surface of the patient's knee joint is more adapted to the selected standard prosthesis, thereby improving the adaptability of prosthesis replacement and the comfort after wearing.

[0014] 2. When cutting osteophytes at the patient's knee joint, the outer sleeve and the inner sleeve are used to limit the displacement of the scalpel for cutting, so that the cutting will not deviate from the established cutting position during cutting. And when the specific cutting position of the cutting piece is judged by the distance sensor to enter a suitable state for manual positioning, the user will manually position it through the grip and the handle. During manual positioning cutting, the cutting image is cleaned and transmitted back. Moreover, compared with the existing electric saw, the scalpel used for cutting can be arbitrarily adjusted in the cutting position manually by the user during cutting, avoiding one-way or procedural cutting. The purpose is to limit the function of the robot only to the initial rapid positioning and providing position calibration function. After the robot provides the cutting direction, cutting stability, viewing angle and positioning assistance to the user, regarding the shape problem of the cutting surface, instead of leaving the judgment of whether the cutting surface fits the standard prosthesis to the robot, this robot only provides cutting assistance, and still leaves the final judgment of whether the cutting surface fits to the doctor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the structural schematic diagram at the first sliding seat and the second sliding seat of the present invention; Figure 3 is the partial structural schematic diagram of the cutting piece of the present invention; Figure 4 is the partial side structural schematic diagram of the cutting piece of the present invention; Figure 5 is the partial exploded view at the scalpel of the present invention; Figure 6 is the partial cross-sectional view of the cutting piece of the present invention.

[0017] In the figure: 1, fixing plate; 2, first slide rail; 3, first sliding seat; 4, second slide rail; 5, vertical moving member; 6, second sliding seat; 7, robotic arm; 8, positioning part; 9, cutting piece; 10, washing viewing tube; 11, handle; 12, handle; 13, display screen; 14, scalpel; 15, first slider; 16, displacement plate; 17, rotating seat; 18, first screw; 19, first motor; 20, displacement seat; 21, second screw; 22, second motor; 23, second slider; 24, rotating base; 25, first rotating motor; 26, displacement arm; 27, second rotating motor; 28, mounting opening; 29, distance sensor; 30, cutting motor; 31, driving wheel; 32, driven wheel; 33, threaded rod; 34, displacement block; 35, guide rod; 36, tool bar; 37, outer sleeve; 38, limiting convex strip; 39, inner sleeve; 40, limiting groove; 41, limiting opening; 42, viewing hole; 43, flushing hole; 44, inner endoscope; 45, flushing tube. Detailed implementation mode

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0019] As Figures 1 to 6 shown, an osteotomy surgical robot with a tool that can move in multiple directions includes a fixed plate 1. Two first sliding rails 2 are installed on one side of the fixed plate 1. A first sliding seat 3 is slidably connected between the two first sliding rails 2. A second sliding rail 4 and a vertical moving member 5 are installed on one side of the first sliding seat 3. A second sliding seat 6 is installed between the second sliding rail 4 and the vertical moving member 5. A robotic arm 7 is installed on one side of the second sliding seat 6. A positioning part 8 is installed at one end of the robotic arm 7. A cutting part 9 is rotatably connected to the end of the positioning part 8. A washing and viewing tube 10 is installed on one side of the cutting part 9, and a handle 11 is fixedly connected to one side of the end. A handle 12 and a display screen 13 are installed on one side of the end of the positioning part 8. A scalpel 14 that is limited in movement is installed inside the cutting part 9. The handle 11 and the handle 12 adjust the cutting position of the scalpel 14. The washing and viewing tube 10 is used to cooperate with the display screen 13 to position the cutting position of the scalpel 14; It should be noted that the fixed plate 1 is vertically fixed, that is, the robot is wall-mounted on the vertical wall of a medical place in the standby state, and the robotic arm 7 is in a retracted and folded state when not in use, so as to avoid affecting the normal work of medical staff on weekdays.

[0020] As Figure 2 shown, a first slider 15 is slidably connected to the top ends of the two first sliding rails 2. The bottom surface of the first sliding seat 3 is fixedly connected to the first slider 15, and a displacement plate 16 is fixedly connected to the middle. Two rotating seats 17 are installed in the middle of one side of the fixed plate 1. A first screw 18 is rotatably connected between the two rotating seats 17. The first screw 18 is rotatably connected to the displacement plate 16, and a first motor 19 is installed at its end; The vertical moving member 5 includes a displacement seat 20 fixedly connected to one side of the first sliding seat 3. A second screw 21 is rotatably connected to the middle of the displacement seat 20. A second motor 22 is installed at the end of the second screw 21. A second slider 23 is slidably connected to the top end of the second sliding rail 4. One side of the bottom surface of the second sliding seat 6 is fixedly connected to the second slider 23, and the other side is rotatably connected to the second screw 21. The first screw 18 and the second screw 21 are perpendicular to each other; It should be noted that after the first motor 19 starts, it drives the first screw 18 to rotate. After the first screw 18 rotates, it drives the displacement plate 16 connected thereto to move. Then, the first sliding seat 3 fixedly connected to the top end of the displacement plate 16 moves accordingly. At the same time, the first sliders 15 are fixedly connected to both sides of the bottom surface of the first sliding seat 3, and the first sliders 15 are slidably connected to the first slide rail 2. Then, after the first motor 19 rotates, it drives the first sliding seat 3 to move along the axis of the first screw 18. At the same time, after the second motor 22 starts, it drives the second screw 21 to rotate. The second screw 21 is threadedly connected to the bottom surface of the second sliding seat 6. Also, the second slider 23 is fixedly connected to the bottom surface of the second sliding seat 6, and the second slider 23 is slidably connected to the second slide rail 4. Then, after the second motor 22 rotates, it drives the second sliding seat 6 to move along the axis of the second screw 21; that is, the rotation of the first motor 19 and the second motor 22 drives the second sliding seat 6 to move. Also, the fixing plate 1 is installed on the vertical wall of the medical site. Then, the second sliding seat 6 can perform two-dimensional movement in the horizontal plane and the vertical plane, thereby driving the robotic arm 7 installed at the end of the second sliding seat 6 to move. In cooperation with the forward and backward movement of the robotic arm 7, the surgical robot can perform positioning at any position in the three-dimensional space, so that the scalpel 14 installed at the end of the robotic arm 7 can be conveniently positioned at the target position; Furthermore, since the body shapes of the patients undergoing prosthesis replacement for the cut osteophytes are different, it is necessary to accurately position the cutting position to adapt to their body types. And during the actual positioning, the horizontal and vertical displacements jointly performed by the first sliding seat 3 and the second sliding seat 6 are rough displacements, that is, roughly positioned to the position and orientation to be cut. Therefore, rapid displacement can be achieved. The displacements of the robotic arm 7, the handle 11, and the handle 12 are fine displacements to find the specific position where the scalpel 14 needs to perform the cutting. Then, through the preliminary position of the second sliding seat 6 and the step-by-step displacement of the scalpel 14, the robot can maintain both high speed and accuracy during positioning, achieving the precise and efficient effect of positioning the cutting position.

[0021] As Figure 1 、 Figure 3 and Figure 4 shown, the robotic arm 7 includes a rotating base 24 fixedly connected to the second sliding seat 6. One end of the rotating base 24 is rotatably connected to a first rotating motor 25. One side of the first rotating motor 25 is rotatably connected to a displacement arm 26. The end of the displacement arm 26 is installed with a second rotating motor 27. The positioning part 8 is installed on one side of the second rotating motor 27; It should be noted that the rotating base 24 can rotate circumferentially in the vertical plane, and the shift arm 26 rotates on one side of the rotating motor 25, and the rotation direction is circumferential rotation along the output shaft of the rotating motor 25. At the same time, the rotation direction of the positioning part 8 is circumferential rotation along the output shaft of the rotating motor 27, and the end of the positioning part 8 is rotatably connected to the cutting piece 9. Therefore, together with the displacement of the sliding seat 1 3 and the sliding seat 2 6, and the telescopic control of the scalpel 14, the robot has a total of seven degrees of freedom for positioning, thereby providing a structural basis for precise positioning of the scalpel 14 for positioning and cutting.

[0022] A U-shaped mounting opening 28 is provided at the end of the positioning portion 8, a rotating shaft is built into the end of the U-shaped mounting opening 28, and the end of the cutting member 9 is rotatably connected to the rotating shaft. A distance sensor 29 is installed at one side of the positioning portion 8, and the distance sensor 29 is electrically connected to the display screen 13; It should be noted that the handle 12 installed on one side of the positioning part 8 is located on the side away from the cutting piece 9. When the doctor is cutting the bone spur, he holds the handle 12 with one hand and adjusts the rotation angle of the handle 11 with the other hand. Before the actual cutting, the distance to the position to be cut is measured by the distance sensor 29. When it is less than the preset manual operation distance value, the display screen 13 electrically connected to the distance sensor 29 marks the distance information in red. At this time, the doctor performs manual distance control cutting, thereby realizing the switching between mechanical control positioning and manual takeover to enter the cutting state.

[0023] like Figure 5 and Figure 6 As shown, the cutting member 9 also includes a built-in cutting motor 30, a driving wheel 31 is installed at the output end of the cutting motor 30, a driven wheel 32 is meshed on one side of the driving wheel 31, a threaded rod 33 is fixedly connected to the bottom end of the driven wheel 32, and the threaded rod 33 is threadedly connected to a shift block 34, a guide rod 35 is installed on one side of the threaded rod 33 inside the cutting member 9, a top side of the shift block 34 is slidably connected to the guide rod 35, and a cutter rod 36 is installed at the bottom end of the shift block 34; The scalpel 14 is fixedly connected to the end of the knife rod 36, and the cutting piece 9 is fixedly connected to the outer sleeve 37 at the end. The inner side of the outer sleeve 37 is fixedly connected to the limiting convex strips 38 along the circumferential side. The inner sleeve 39 is installed between the inner sides of the limiting convex strips 38. The circumferential side of the inner sleeve 39 is adapted to the limiting convex strips 38 to set a limiting groove 40, and the end is provided with a limiting opening 41. The knife rod 36 is slidably connected to the inner sleeve 39, and the two sides of the scalpel 14 are clamped with the limiting openings 41; One end of the knife bar 36 is provided with a scope hole 42 and a flushing hole 43 on both sides of the scalpel 14, and the side of the knife bar 36 close to the cutting motor 30 is connected to the flushing tube 10, and the flushing tube 10 has an endoscope 44 and a flushing tube 45 built therein, the endoscope 44 is electrically connected to the display screen 13 and extends to the outer end of the scope hole 42, and the flushing tube 45 extends to the outer end of the flushing hole 43; After the user holds the handle 12 and rotates the grip 11 and cooperates with the distance sensor 29 to position the cutting member 9 at a position suitable for the operation, the user controls the rotation of the cutting motor 30 inside the cutting member 9 through the display screen 13. The cutting motor 30 rotates the threaded rod 33 through the driving wheel 31 and the driven wheel 32. The shifting block 34 threadedly connected to the threaded rod 33 moves along the central axis direction of the guide rod 35 under the guiding action of the guide rod 35, driving the movement of the tool bar 36 installed at the bottom of the shifting block 34. Since the inner sleeve 39 installing the tool bar 36 limits the end of the scalpel 14, and the inner sleeve 39 is limited by the limiting rib 38 on the inner peripheral side of the outer sleeve 37, it can ensure the stability of the cutting edge of the scalpel 14 during the process of cutting osteophytes, avoiding deviation from the established cutting position, thereby improving the cutting accuracy. On the other hand, the inspection lens holes 42 and the flushing holes 43 respectively arranged on both sides of the scalpel 14 of the tool bar 36 extend the internal inspection lens 44 and the flushing pipe 45 built in the inspection and flushing tube 10 to both sides of the cutting position of the scalpel 14. Also, the internal inspection lens 44 is electrically connected to the display screen 13. Then, during the process of the scalpel 14 cutting osteophytes, the cutting position can be flushed with water to wash away the blood, and the picture of the flushing cutting position is fed back to the display screen 13 by the internal inspection lens 44, so that the user can control the cutting situation in real time. That is, the cutting positioning accuracy is improved through the multi-dimensional positioning of seven degrees of freedom. The cutting accuracy is ensured by the grip 11, the handle 12, the distance sensor 29 and the movement track of the limiting scalpel 14. The accuracy during the cutting process is improved by connecting the internal inspection lens 44 and the flushing pipe 45 built in the inspection and flushing tube 10 to the side of the scalpel 14, thereby realizing the precise cutting of the osteophytes of the patient. When the staff cuts, the shape of the cut joint can be highly adapted to the shape of the selected standard part prosthesis, thereby improving the adaptability and comfort of the patient during use after the prosthesis is installed.

[0024] One embodiment of the present invention has been described in detail above, but the content described is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. An osteotomy surgical robot with multi-directional movement of a cutting tool, comprising a fixing plate (1), on one side of the fixing plate (1), two first slide rails (2) are installed, and a first sliding seat (3) is slidably connected between the two first slide rails (2), characterized in that, On one side of the sliding seat one (3), a second slide rail (4) and a vertical moving member (5) are installed. A second sliding seat (6) is installed between the second slide rail (4) and the vertical moving member (5). On one side of the second sliding seat (6), a robotic arm (7) is installed. At one end of the robotic arm (7), a positioning part (8) is installed. At the end of the positioning part (8), a cutting part (9) is rotatably connected. On one side of the cutting part (9), a viewing tube (10) is installed, and at one side of the end, a handle (11) is fixedly connected. On one side of the end of the positioning part (8), a handle (12) and a display screen (13) are installed. Inside the cutting part (9), a scalpel (14) that is limited in movement is installed. The handle (11) and the handle (12) are used to adjust the cutting position of the scalpel (14). The viewing tube (10) is used to cooperate with the display screen (13) to position the cutting position of the scalpel (14).

2. The osteotomy surgical robot with multi-directionally movable tool according to claim 1, wherein, On the top of each of the two first slide rails (2), a first slider (15) is slidably connected. The bottom surface of the sliding seat one (3) is fixedly connected to the first slider (15), and in the middle, a displacement plate (16) is fixedly connected. In the middle of one side of the fixed plate (1), two rotating seats (17) are installed. Between the two rotating seats (17), a first screw rod (18) is rotatably connected. The first screw rod (18) is rotatably connected to the displacement plate (16), and at the end, a first motor (19) is installed.

3. The osteotomy surgical robot with multi-directionally movable cutting tools according to claim 2, characterized in that, The vertical moving member (5) includes a displacement seat (20) fixedly connected to one side of the sliding seat one (3). In the middle of the displacement seat (20), a second screw rod (21) is rotatably connected. At the end of the second screw rod (21), a second motor (22) is installed. On the top of the second slide rail (4), a second slider (23) is slidably connected. One side of the bottom surface of the second sliding seat (6) is fixedly connected to the second slider (23), and the other side is rotatably connected to the second screw rod (21). The first screw rod (18) and the second screw rod (21) are perpendicular to each other.

4. A surgical robot for osteotomy with a tool that can move in multiple directions according to claim 1, characterized in that, The robotic arm (7) includes a rotating base (24) fixedly connected to the second sliding seat (6). At one end of the rotating base (24), a first rotating motor (25) is rotatably connected. On one side of the first rotating motor (25), a displacement arm (26) is rotatably connected. At one end of the displacement arm (26), a second rotating motor (27) is installed. The positioning part (8) is installed on one side of the second rotating motor (27).

5. The osteotomy surgical robot with multi-directionally movable cutting tools according to claim 1, wherein, At the end of the positioning part (8), an installation opening (28) is provided. At the end of the installation opening (28), a rotating shaft is built-in, and the end of the cutting part (9) is rotatably connected to the rotating shaft. On one side of the positioning part (8), a distance sensor (29) is installed. The distance sensor (29) is electrically connected to the display screen (13).

6. The osteotomy surgical robot with multi-directionally movable tool according to claim 1, characterized in that, The cutting member (9) further includes a built-in cutting motor (30). An output end of the cutting motor (30) is provided with a driving wheel (31). One side of the driving wheel (31) is engaged with a driven wheel (32). A bottom end of the driven wheel (32) is fixedly connected to a threaded rod (33). The threaded rod (33) is threadedly connected to a shifting block (34). One side of the threaded rod (33) is provided with a guide rod (35). A top end side of the shifting block (34) is slidably connected to the guide rod (35). A bottom end of the shifting block (34) is provided with a tool bar (36).

7. A surgical robot for osteotomy with multi-directional movement of the tool, according to claim 6, characterized in that, The scalpel (14) is fixedly connected to an end of the tool bar (36). The cutting member (9) is fixedly connected with an outer sleeve (37) at an end. A plurality of limiting ridges (38) are fixedly connected to an inner circumferential surface of the outer sleeve (37). An inner sleeve (39) is installed between inner sides of the limiting ridges (38). A limiting groove (40) adapted to the limiting ridges (38) is provided on a circumferential surface of the inner sleeve (39), and a limiting opening (41) is provided at an end. The tool bar (36) is slidably connected to an inside of the inner sleeve (39). A side of the scalpel (14) is clamped to an adjacent side of the limiting opening (41).

8. A bone cutting surgical robot with multi-directional movement of the tool, as claimed in claim 6, wherein One end of the tool bar (36) is respectively provided with a scope hole (42) and a flushing hole (43) on two sides of the scalpel (14). One side of the tool bar (36) close to the cutting motor (30) is connected to the washing and viewing tube (10). An endoscope (44) and a flushing tube (45) are built in the washing and viewing tube (10). The endoscope (44) is electrically connected to the display screen (13) and extends to an outer end of the scope hole (42). The flushing tube (45) extends to an outer end of the flushing hole (43).

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