A surgical robot for osteotomy with a tool capable of moving in multiple directions

Abstract

The present invention discloses a surgical robot for osteotomy with a tool that can move in multiple directions, and relates to the technical field of medical surgical instruments. The present invention includes a fixed plate, two slide rails 1 are installed on one side of the fixed plate, a sliding seat 1 is slidably connected between the two slide rails 1, a slide rail 2 and a vertical moving member are installed on one side of the sliding seat 1, a sliding seat 2 is installed between the slide rail 2 and the vertical moving member, a mechanical arm is installed on one side of the sliding seat 2, a positioning part is installed at one end of the mechanical arm, a cutting part is rotatably connected to the end of the positioning part, a sight tube is installed on one side of the cutting part, a handle and a display screen are installed on one side of the end of the positioning part, and a scalpel is installed inside the cutting part. By providing two sliding seats and installing a mechanical arm with a cutting part, the present invention enables the robot to have multiple degrees of freedom of movement when in use, thereby improving the cutting positioning accuracy, and by limiting the scalpel and providing a cutting angle, the cutting is more closely fitted to the standard parts of the prosthesis, thereby improving wearing comfort.

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 knee joint diseases gradually worsens, patients 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 being used to assist in surgery.

[0003] Patent specification CN112971988A discloses a knee replacement surgical robot, which includes a rotation adjustment assembly, comprising: a first connecting member, the first connecting member being provided with an arcuate groove; a self-locking member, the self-locking member being provided with a first locating pin and a second locating pin, the first locating pin and the second locating pin being embedded in the arcuate groove, the first locating pin and the second locating pin being longer than the second locating pin; a second connecting member, the second connecting member and the self-locking member being torsionally connected; a pin shaft, the first connecting member and the second connecting member being rotatably connected relative to each other via the pin shaft; and an elastic member, the elastic member pushing the self-locking member toward the first connecting member so that the first locating pin and the second locating pin are embedded in the arcuate groove;

[0004] When this type of surgical robot is in use, the adjustment component is rotated to locate the rotation position of the robotic arm. After the positioning is completed, the trigger is squeezed 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 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 it.

[0005] 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

[0006] 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.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] The tool can be moved in multiple directions to move in an osteotomy. The tool comprises a fixed plate, one side of the fixed plate is provided with two slide rails 1, a sliding seat 1 is slidably connected between the two slide rails 1, one side of the sliding seat 1 is provided with a slide rail 2 and a vertical moving member, a sliding seat 2 is provided between the slide rail 2 and the vertical moving member, a mechanical arm is provided on one side of the sliding seat 2, a positioning part is provided at one end of the mechanical arm, a cutting part is rotatably connected to the end of the positioning part, a sight-washing tube is provided on one side of the cutting part, and a gripping handle is fixedly connected to one side of the end, a handle and a display screen are provided on one side of the end of the positioning part, a scalpel with limited movement is installed inside the cutting part, the gripping handle and the handle are used to adjust the cutting position of the scalpel, and the sight-washing tube is used to cooperate with the display screen to position the cutting position of the scalpel.

[0009] As a further solution of the present invention: the top ends of the two slide rails are slidably connected to a slider, the bottom surface of the sliding seat is fixedly connected to the slider, and the middle part is fixedly connected to a shift plate, two rotating seats are installed in the middle of one side of the fixed plate, a screw is rotatably connected between the two rotating seats, the screw is rotatably connected to the shift plate, and a motor is installed at the end.

[0010] As a further solution of the present invention: the vertical moving member includes a shift seat fixedly connected to one side of the sliding seat, the middle of the shift seat is rotatably connected to screw rod 2, the end of the screw rod 2 is installed with motor 2, the top of the slide rail 2 is slidably connected to slider 2, one side of the bottom surface of the sliding seat 2 is fixedly connected to slider 2, and the other side is rotatably connected to screw rod 2, and the screw 1 and screw 2 are perpendicular to each other.

[0011] As a further solution of the present invention: the robotic arm includes a rotating base fixedly connected to the sliding seat 2, one end of the rotating base is rotatably connected to the rotating motor 1, one side of the rotating motor 1 is rotatably connected to the shift arm, one end of the shift arm is installed with the rotating motor 2, and the positioning part is installed on one side of the rotating motor 2.

[0012] As a further solution of the present invention: a mounting port is provided at the end of the positioning portion, a rotating shaft is built into the end of the mounting port, and the end of the cutting piece is rotatably connected to the rotating shaft, a distance sensor is installed on one side of the positioning portion, and the distance sensor is electrically connected to the display screen.

[0013] As a further solution of the present invention: the cutting piece also includes a built-in cutting motor, a driving wheel is installed at the output end of the cutting motor, a driven wheel is engaged with one side of the driving wheel, a threaded rod is fixedly connected to the bottom end of the driven wheel, the threaded rod is threadedly connected to a shift block, a guide rod is installed on one side of the threaded rod, the top side of the shift block is slidably connected to the guide rod, and a knife rod is installed at the bottom end of the shift block.

[0014] As a further solution of the present invention: the scalpel is fixedly connected to the end of the knife rod, the cutting piece is fixedly connected to an outer sleeve at the end, a plurality of limiting ridges are fixedly connected along the circumferential side surface of the outer sleeve, an inner sleeve is installed between the inner sides of each of the limiting ridges, the circumferential side surface of the inner sleeve is adapted to the limiting ridges to provide limiting grooves, and a limiting opening is provided at the end, the knife rod 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 opening.

[0015] As a further solution of the present invention: one end of the knife rod is respectively provided with a mirror hole and a flushing hole on both sides of the scalpel, and the side of the knife rod close to the cutting motor is connected to the washing tube, and the washing tube has an endoscope and a flushing tube built in. The endoscope is electrically connected to the display screen and extends to the outer end of the mirror hole, and the flushing tube extends to the outer end of the flushing hole.

[0016] Beneficial effects of the present invention:

[0017] 1. In the present invention, a fixed plate is installed on the wall of the operating room, and sliding seats 1 and 2 are installed on the fixed plate. A robotic arm is installed on sliding seat 2, and a cutting member is installed at the end of the robotic arm. When in use, the robot as a whole has multiple degrees of freedom, allowing it to be precisely positioned at any position in space. During positioning, the sliding seats 1 and 2 perform preliminary positioning, followed by the robotic arm for roughly positioning the cutting position. Finally, the user manually shifts from mechanical positioning to manual positioning using a grip, a handle, and a distance sensor. During the final cut, the cutting position is flushed and illuminated by an endoscope and an irrigation tube installed on both sides of the scalpel, and the image is transmitted back to the display screen on the side manually adjusted by the user. That is, the approximate direction of the cut is quickly mechanically positioned, and the cutting position is then manually adjusted and calibrated by the endoscope. This provides the advantages of rapid positioning and precise cutting when cutting osteophytes. After the cut is completed, the cut surface of the patient's knee joint is more compatible with the selected standard prosthesis, thereby improving the adaptability of the prosthesis replacement and the comfort of the wearer.

[0018] 2. When cutting osteophytes at the patient's knee joint, the outer sleeve and the inner sleeve are used to shift and limit the scalpel used for cutting so that it will not deviate from the predetermined cutting position during cutting. Moreover, when the distance sensor determines that the specific cutting position of the cutting piece is suitable for manual positioning, the user will manually position it through the grip and the handle. The manual positioning cutting is accompanied by the cleaning and return of the cutting image. Compared with the electric saw in the prior art, the scalpel used for cutting can cooperate with the user to manually adjust the cutting position at will during cutting to avoid one-way or programmed cutting during the cutting process. The purpose is to limit the function of the robot to the initial rapid positioning and providing position calibration functions. After the robot provides the user with cutting direction, cutting stability, viewing angle and positioning assistance, in terms of the shape of the cutting surface, compared with leaving the judgment of whether the cutting surface is suitable for the standard prosthesis to the robot, this robot only provides cutting assistance and still leaves the final judgment of whether the cutting surface is suitable to the doctor. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the sliding seat 1 and the sliding seat 2 of the present invention;

[0022] Figure 3 It is a schematic diagram of the partial structure of the cutting piece of the present invention;

[0023] Figure 4 It is a partial side structural schematic diagram of the cutting piece of the present invention;

[0024] Figure 5 It is a partial exploded view of the scalpel of the present invention;

[0025] Figure 6 It is a partial half-section view of the cutting piece of the present invention.

[0026] In the figure: 1. Fixed plate; 2. Slide rail 1; 3. Slide seat 1; 4. Slide rail 2; 5. Vertical moving member; 6. Slide seat 2; 7. Robotic arm; 8. Positioning unit; 9. Cutting member; 10. Sight glass; 11. Grip; 12. Handle; 13. Display screen; 14. Scalpel; 15. Slide block 1; 16. Shift plate; 17. Rotating seat; 18. Screw rod 1; 19. Motor 1; 20. Shift seat; 21. Screw rod 2; 22. Motor 2; 23. Slide block 2; 24. Rotating base; 25. Rotating motor 1; 26. Shift arm; 27. Rotating motor 2; 28. Mounting port; 29. ​​Distance sensor; 30. Cutting motor; 31. Driving wheel; 32. Driven wheel; 33. Threaded rod; 34. Shift block; 35. Guide rod; 36. Cutter bar; 37. Outer sleeve; 38. Limiting rib; 39. Inner sleeve; 40. Limiting groove; 41. Limiting port; 42. Scope hole; 43. Flushing hole; 44. Inner scope; 45. Flushing tube. DETAILED DESCRIPTION

[0027] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] like Figures 1 to 6 As shown, a surgical robot for osteotomy with a tool that can move in multiple directions comprises a fixed plate 1, two slide rails 2 are installed on one side of the fixed plate 1, a slide seat 3 is slidably connected between the two slide rails 2, a slide rail 2 4 and a vertical moving member 5 are installed on one side of the slide seat 3, a slide seat 2 6 is installed between the slide rail 2 4 and the vertical moving member 5, a mechanical arm 7 is installed on one side of the slide seat 2 6, a positioning portion 8 is installed on one end of the mechanical arm 7, a cutting member 9 is rotatably connected to the end of the positioning portion 8, a sight-washing tube 10 is installed on one side of the cutting member 9, and a grip 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 portion 8, a scalpel 14 with limited movement is installed inside the cutting member 9, the grip 11 and the handle 12 adjust the cutting position of the scalpel 14, and the sight-washing tube 10 is used to cooperate with the display screen 13 to position the cutting position of the scalpel 14;

[0029] It should be noted that the fixing plate 1 is fixed vertically, that is, the robot is wall-mounted on the vertical wall of the medical site 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 daily routine work of medical staff.

[0030] like Figure 2As shown, the tops of the two slide rails 2 are slidably connected to the slider 15, the bottom surface of the sliding seat 3 is fixedly connected to the slider 15, and the middle part is fixedly connected to the shift plate 16. Two rotating seats 17 are installed in the middle of one side of the fixed plate 1. A screw 18 is rotatably connected between the two rotating seats 17. The screw 18 is rotatably connected to the shift plate 16, and a motor 19 is installed at its end.

[0031] The vertical moving member 5 includes a shift seat 20 fixedly connected to one side of the sliding seat 1 3. The middle part of the shift seat 20 is rotatably connected to the screw 21. The end of the screw 21 is installed with a motor 22. The top of the slide rail 2 4 is slidably connected to the slider 23. One side of the bottom surface of the sliding seat 2 6 is fixedly connected to the slider 23, and the other side is rotatably connected to the screw 21. The screw 18 and the screw 21 are perpendicular to each other.

[0032] It should be noted that after the motor 19 is started, it drives the screw 18 to rotate. After the screw 18 rotates, it drives the shift plate 16 connected to it to move, and the sliding seat 3 fixedly connected to the top of the shift plate 16 moves accordingly. At the same time, both sides of the bottom surface of the sliding seat 3 are fixedly connected to the slider 15, and the slider 15 is slidably connected to the slide rail 2. After the motor 19 rotates, it drives the sliding seat 3 to move along the axis of the screw 18. At the same time, after the motor 22 is started, it drives the screw 21 to rotate. The screw 21 is threadedly connected to the bottom surface of the sliding seat 26, and the bottom surface of the sliding seat 26 is fixedly connected to the slider 23. Block 23 is slidably connected to slide rail 24, and motor 22 rotates to drive sliding seat 26 to move along the axis of screw 21; that is, the rotation of motor 19 and motor 22 drives sliding seat 26 to move, and the fixed plate 1 is installed on the vertical wall of the medical site, so that sliding seat 26 can move in two dimensions in the horizontal plane and the vertical plane, thereby driving the mechanical arm 7 installed at the end of sliding seat 26 to move, and coordinating with the forward and backward movement of the mechanical arm 7, the surgical robot can be positioned in any direction in three-dimensional space, so that the scalpel 14 installed at the end of the mechanical arm 7 can be conveniently positioned to the target position;

[0033] Furthermore, due to the differences in body shapes of patients whose osteophytes are removed and prostheses are replaced, the cutting position needs to be accurately positioned to adapt to their body shapes, and during actual positioning, the horizontal and vertical displacements jointly performed by sliding seat 1 3 and sliding seat 2 6 are coarse displacements, that is, they are roughly positioned to the position and orientation to be cut, so they can be quickly displaced, and the displacements of the robotic arm 7, grip 11 and handle 12 are fine displacements, so as to find the specific position where the scalpel 14 needs to cut. By adjusting the initial position of sliding seat 2 6 and the step-by-step displacement of the scalpel 14, the robot can maintain high speed and precision at the same time during positioning, thereby achieving accurate and efficient results in positioning the cutting position.

[0034] like Figure 1 、 Figure 3 and Figure 4 As shown, the robot arm 7 includes a rotating base 24 fixedly connected to the sliding base 2 6, one end of the rotating base 24 is rotatably connected to the rotating motor 1 25, and one side of the rotating motor 1 25 is rotatably connected to the shift arm 26, and the end of the shift arm 26 is installed with the rotating motor 27, and the positioning part 8 is installed on one side of the rotating motor 27;

[0035] 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 shifting 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.

[0036] 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. The end of the cutting member 9 is rotatably connected to the rotating shaft. A distance sensor 29 is installed on one side of the positioning portion 8. The distance sensor 29 is electrically connected to the display screen 13.

[0037] 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.

[0038] like Figure 5 and Figure 6 As shown, the cutting element 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 engaged 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 the shift block 34. A guide rod 35 is installed on one side of the threaded rod 33 inside the cutting element 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;

[0039] The scalpel 14 is fixedly connected to the end of the shank 36, and the cutting member 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 ridges 38 along the circumferential side. An inner sleeve 39 is installed between the inner sides of the limiting ridges 38. The inner sleeve 39 is provided with limiting grooves 40 on the circumferential side to match the limiting ridges 38, and a limiting opening 41 is provided at the end. The shank 36 is slidably connected to the inner sleeve 39, and both sides of the scalpel 14 are engaged with the limiting openings 41.

[0040] One end of the knife rod 36 is provided with a scope hole 42 and a flushing hole 43 on both sides of the scalpel 14. The side of the knife rod 36 near the cutting motor 30 is connected to the flushing tube 10. The flushing tube 10 has an endoscope 44 and a flushing tube 45 built in. The endoscope 44 is electrically connected to the display screen 13 and extends to the outer end of the scope hole 42. The flushing tube 45 extends to the outer end of the flushing hole 43.

[0041] After the user positions the cutting piece 9 to a position suitable for surgery by holding the handle 12 and rotating the handle 11 in conjunction with the distance sensor 29, the user controls the cutting motor 30 inside the cutting piece 9 to rotate 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 shift block 34 threadedly connected to the threaded rod 33 moves along the central axis of the guide rod 35 under the guidance of the guide rod 35, driving the knife rod 36 installed at the bottom of the shift block 34 to move. Since the inner sleeve 39 on which the knife rod 36 is installed limits the end of the scalpel 14, and the inner sleeve 39 is limited by the limiting ridge 38 on the inner circumference of the outer sleeve 37, it can ensure that the scalpel 14 maintains the stability of the blade during the process of cutting bone hyperplasia, avoids deviation from the established cutting position, thereby improving the cutting accuracy. On the other hand, the knife rod 36 is provided with a mirror hole 42 and a flushing hole 43 on both sides of the scalpel 14 to wash the vision tube 10 built into it. The endoscope 44 and the flushing tube 45 extend to both sides of the cutting position of the scalpel 14, and the endoscope 44 is electrically connected to the display screen 13. During the process of the scalpel 14 cutting the bone spur, the blood can be cleaned by flushing water to the cutting position, and the endoscope 44 will feed back the flushed cutting position image to the display screen 13, so that the user can control the cutting situation in real time, that is, the cutting positioning accuracy is improved through the seven-degree-of-freedom multi-dimensional positioning, and the cutting accuracy is ensured by the handle 11, the handle 12 distance sensor 29 and the movement trajectory of the limiting scalpel 14. The endoscope 44 and the flushing tube 45 built into the flushing tube 10 are connected to the side of the scalpel 14 to improve the accuracy of the cutting process, thereby achieving precise cutting of the patient's bone spur, so that the staff can make the shape of the joint after cutting highly compatible with the shape of the optional standard prosthesis during cutting, thereby improving the adaptability and comfort of the patient when using the prosthesis after installation.

[0042] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A surgical robot for osteotomy with a tool capable of moving in multiple directions, comprising a fixed plate (1), two slide rails (2) being mounted on one side of the fixed plate (1), a sliding seat (3) being slidably connected between the two slide rails (2), and characterized in that: A slide rail 2 (4) and a vertical moving member (5) are installed on one side of the sliding seat 1 (3), a slide rail 2 (6) is installed between the slide rail 2 (4) and the vertical moving member (5), a mechanical arm (7) is installed on one side of the sliding seat 2 (6), a positioning portion (8) is installed on one end of the mechanical arm (7), the end of the positioning portion (8) is rotatably connected to a cutting member (9), a sight-washing tube (10) is installed on one side of the cutting member (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 portion (8), a scalpel (14) that is limited in movement is installed inside the cutting member (9), the handle (11) and the handle (12) are used to adjust the cutting position of the scalpel (14), and the sight-washing tube (10) is used to cooperate with the display screen (13) to locate the cutting position of the scalpel (14); The cutting member (9) further comprises a built-in cutting motor (30), wherein a driving wheel (31) is mounted on the output end of the cutting motor (30), a driven wheel (32) is meshed with one side of the driving wheel (31), a threaded rod (33) is fixedly connected to the bottom end of the driven wheel (32), a shift block (34) is threadedly connected to the threaded rod (33), a guide rod (35) is mounted on one side of the threaded rod (33), a top side of the shift block (34) is slidably connected to the guide rod (35), and a cutter rod (36) is mounted on 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 an outer sleeve (37) at the end. A plurality of limiting ridges (38) are fixedly connected to the inner side of the outer sleeve (37) along the circumferential side. An inner sleeve (39) is installed between the inner sides of the limiting ridges (38). The circumferential side of the inner sleeve (39) is adapted to the limiting ridges (38) to provide a limiting groove (40), and the end is provided with a limiting opening (41). The knife rod (36) is slidably connected to the inner side of the inner sleeve (39), and the side of the scalpel (14) is clamped with the adjacent side of the limiting opening (41).

2. The osteotomy surgical robot with a tool capable of multi-directional movement according to claim 1, characterized in that: The top ends of the two slide rails (2) are slidably connected to a slider (15), the bottom surface of the sliding seat (3) is fixedly connected to the slider (15), and the middle part is fixedly connected to a shift plate (16), two rotating seats (17) are installed in the middle of one side of the fixed plate (1), a screw (18) is rotatably connected between the two rotating seats (17), the screw (18) is rotatably connected to the shift plate (16), and a motor (19) is installed at the end.

3. The osteotomy surgical robot with a tool capable of multi-directional movement according to claim 2, characterized in that: The vertical moving member (5) includes a shift seat (20) fixedly connected to one side of the sliding seat (3), the middle of the shift seat (20) is rotatably connected to the second screw (21), the end of the second screw (21) is installed with the second motor (22), the top of the second slide rail (4) is slidably connected to the second slider (23), 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), and the first screw (18) and the second screw (21) are perpendicular to each other.

4. The osteotomy surgical robot with a tool capable of multi-directional movement according to claim 1, characterized in that: The mechanical arm (7) includes a rotating base (24) fixedly connected to the sliding base (6), one end of the rotating base (24) is rotatably connected to the rotating motor (25), one side of the rotating motor (25) is rotatably connected to the shift arm (26), one end of the shift arm (26) is installed with the rotating motor (27), and the positioning part (8) is installed on one side of the rotating motor (27).

5. The osteotomy surgical robot with a tool capable of multi-directional movement according to claim 1, characterized in that: The end of the positioning portion (8) is provided with a mounting opening (28), the end of the mounting opening (28) is provided with a rotating shaft, and the end of the cutting member (9) is rotatably connected to the rotating shaft. A distance sensor (29) is installed on one side of the positioning portion (8), and the distance sensor (29) is electrically connected to the display screen (13).

6. The osteotomy surgical robot with a tool capable of multi-directional movement according to claim 1, characterized in that: One end of the knife rod (36) is provided with a scope hole (42) and a flushing hole (43) on both sides of the scalpel (14), and the knife rod (36) is connected to the flushing tube (10) on the side close to the cutting motor (30). The flushing tube (10) is equipped with an endoscope (44) and a flushing tube (45). The endoscope (44) is electrically connected to the display screen (13) and extends to the outer end of the scope hole (42). The flushing tube (45) extends to the outer end of the flushing hole (43).

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