A dithering-free microsurgical robotic arm for plastic surgery

Abstract

The present application relates to surgical robot technical field, specifically disclose a kind of anti-shake microsurgery robot for plastic surgery, including operating table and installation frame, the operating table side wall is equipped with guide rail the end surface of installation frame is equipped with robot body, the bottom surface of installation frame is rectangularly distributed with four installation frames one, rectangular frame one is embeddedly installed in the bottom surface of installation frame one, suction accessory is arranged in the inner cavity of rectangular frame one, pneumatic assembly is arranged on the outer side wall of installation frame one, transmission assembly is arranged between pneumatic assembly and suction accessory, the detection assembly is arranged in suction accessory, lifting piece is cooperatively installed on suction accessory, and flow guide pipe two is cooperatively installed on lifting piece;The present application is cooperatively installed between the above structure, to provide a new positioning mode, it has the advantages of fast response speed and good positioning effect, and the positioning of device is not limited by guide rail, and then reaches the effect that device can be positioned at any position.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of surgical robot, and particularly relates to a anti-shake microsurgery robot for plastic surgery. BACKGROUND

[0002] As a kind of fine and complex surgical operation, plastic surgery has a high requirement for the precision and stability of surgical instruments, especially in the field of microsurgery, doctors need to perform accurate operations in a small field of view, such as blood vessel anastomosis, nerve repair and microtissue reconstruction, etc. However, the traditional surgical method mainly relies on the operation of the doctor holding the surgical instrument, which is inevitably affected by the physiological characteristics of the human body, and the micro-shaking of the hand is a difficult problem to overcome.

[0003] In the patent with publication number CN118000919B, a surgical robot is mentioned, which includes a guide rail fixedly installed at the edge of an operating bed, a mounting seat is arranged on one side of the guide rail, an adjusting mechanism is arranged on the mounting seat, the mounting seat includes a base, a screw rod, the screw rod is rotatably installed below the base, a screw sleeve is screwed on the screw rod, four groups of connecting rods, one end of each of the four groups of connecting rods is hingedly connected to the screw sleeve, four groups of supporting rods, the other end of each of the four groups of connecting rods is hingedly connected to the four groups of supporting rods, a roller is rotatably installed at the lower end of the supporting rod, the upper end of the supporting rod is hingedly connected to the base, the arrangement of the roller makes it more convenient for the worker to carry the device, the position of the guide sleeve can be flexibly adjusted, so that the worker can quickly realize the clamping of the guide sleeve and the guide rail, and the worker can conveniently and labor-savingly install and disassemble the robot, and the guide sleeve can slide along the guide rail, so that the device can flexibly move along the edge of the operating bed, thereby facilitating the worker to adjust the position of the device.

[0004] However, in the prior art, after the device body moves to the specified position, the device body is positioned by using a bolt to press the bed body, and the use of the bolt for positioning requires manual tightening of the bolt one by one, which is relatively cumbersome and time-consuming, especially in the case of frequent adjustment of the position of the device body, the operator needs to repeatedly tighten and loosen the bolt, which increases the labor intensity, in addition, the positioning structure design causes the device to be used in combination with the guide rail, thereby causing the device to have limited use.

[0005] Therefore, the anti-shake microsurgery robot for plastic surgery is provided to solve the above problems. SUMMARY

[0006] The purpose of the present application is to provide an anti-shake microsurgery robot for plastic surgery to solve the problem that the use of a bolt to position the device in the prior art causes the device to be used in combination with the guide rail, thereby causing the device to have limited use and inconvenience in adjustment.

[0007] In order to achieve the above object, the present application provides the following technical scheme: a kind of anti-shake microsurgery mechanical arm for reduction surgery, including operating table and installation frame, the operating table side wall is equipped with guide rail, the end surface of the installation frame is equipped with mechanical arm body, the bottom surface of the installation frame is rectangularly distributed with four installation frames one, rectangular frame one is embeddedly installed in the bottom surface of installation frame one, suction accessory is arranged in the inner cavity of rectangular frame one, pneumatic assembly is arranged on the outer side wall of installation frame one, transmission assembly is arranged between pneumatic assembly and suction accessory, the suction accessory is provided with detection assembly, suction accessory is cooperatively installed with lifting piece, lifting piece is cooperatively installed with flow guide pipe two;

[0008] The pneumatic assembly includes a vacuum pump, a vacuum pump is installed on the side wall of flow guide pipe two, a connecting pipe two is connected to the suction end of the vacuum pump, a connecting frame is installed on one side of the outer wall of installation frame one, the side of the connecting frame close to installation frame one is designed as open, two U-shaped racks one are installed on the side wall of the inner cavity of connecting frame, a moving block is slidably installed between the two U-shaped racks one, a U-shaped rack two is installed on the side wall of moving block, the U-shaped rack two is located between the two U-shaped racks one, a closing plate is installed on the side of moving block close to installation frame one;

[0009] The moving block is provided with a communication groove one, and the closing plate is provided with a communication groove two, and the communication groove two and the communication groove one are in communication with each other.

[0010] The suction accessory includes a fixed frame, the inner cavity of rectangular frame one is provided with a fixed frame, the inner cavity of the fixed frame is provided with a suction cup, the suction cup and the inner cavity of the fixed frame are in communication, two positioning frames are installed in the inner cavity of rectangular frame one from top to bottom, and the fixed frame slides between the two positioning frames.

[0011] The rectangular frame one and the installation frame one are provided with a flow guide pipe two, one end of the flow guide pipe two is in contact with the closing plate, and the other end of the flow guide pipe two is located in the interior of the rectangular frame one.

[0012] Preferably, the transmission assembly includes a rack one and a gear, the side wall of the installation frame one is provided with a connecting cavity two, the side wall of the rectangular frame one is provided with a connecting cavity one, and the flow guide pipe two and the connecting cavity one are in communication with each other.

[0013] The gear is rotatably arranged between the inner cavity side walls of the connecting cavity one, the fixed frame is provided with a rack one on the side outer wall close to the connecting cavity one, the moving block is provided with a rack two on the side outer wall close to the connecting cavity two, and the rack two and the rack one are engaged with the gear.

[0014] Preferably, the outer wall of the fixed frame is provided with a sliding frame, the sliding frame slides in the inner cavity of the rectangular frame one, and the sliding frame is located between the two positioning frames.

[0015] The connecting pipe I is arranged above the connecting frame side wall, and the connecting pipe I is communicated with the connecting frame and the outside.

[0016] Preferably, the lifting piece comprises a connecting sleeve and a ring-shaped frame II, the inner cavity of the fixed frame is arranged with the ring-shaped sleeve, the inner cavity of the ring-shaped sleeve is arranged with two ring-shaped frames II from top to bottom, the two ring-shaped frames II are slidingly arranged with the flow guide pipe I, the outer wall of the flow guide pipe I is arranged with the ring-shaped frame I below, the ring-shaped frame I is slidingly arranged in the ring-shaped sleeve, and the ring-shaped frame I is located between the two ring-shaped frames II.

[0017] The connecting sleeve is slidingly arranged on the outer wall of the flow guide pipe I, and the inner cavity of the connecting sleeve is connected with the outer wall of the flow guide pipe II.

[0018] Preferably, the detection assembly comprises a ring-shaped frame, the inner cavity of the fixed frame is arranged with the ring-shaped frame, the inner cavity of the ring-shaped frame is symmetrically arranged with arc-shaped magnets, the magnetic poles of the two arc-shaped magnets are opposite, the inner cavity of the ring-shaped frame is arranged with the mounting frame II above, the mounting frame II is rotatably arranged with the connecting shaft, the connecting shaft is penetratingly arranged with two electric drive frames, the two ends of the electric drive frame are respectively arranged with the commutator, the inner cavity of the ring-shaped frame is symmetrically arranged with the electric brush below, the electric brush is in contact with the ring-shaped frame, the outer wall of the connecting shaft is arranged with the fan below, and the blade angle of the fan is arranged to be between 5 degrees and 15 degrees, so as to avoid stall at large angle of attack or insufficient power at small angle of attack.

[0019] Preferably, the two electric brushes are respectively connected with wires, the wires away from the electric brushes are sequentially penetratingly arranged with the fixed frame, the rectangular frame I and the mounting frame I, and extend to the outside of the mounting frame I, the outer side wall of the mounting frame I is arranged with the lamp holder, the lamp holder is arranged with the indicator lamp, and the two ends of the lamp holder are respectively connected with the wires.

[0020] Preferably, the wires are fixedly connected between the rectangular frame I and the mounting frame I, and are directly sealed with each other, the wires are fixedly connected between the fixed frame and are sealed with each other, and the length of the wires reserved between the rectangular frame I and the fixed frame is greater than the distance length between the two U-shaped frames I.

[0021] Preferably, the mobile piece is further arranged, the outer side wall of the rectangular frame I is arranged with the mounting seat below, the bottom surface of the mounting seat is arranged with four connecting rods in a rectangular distribution, and the connecting rods are rollingly arranged with the rolling beads.

[0022] Preferably, the guide rail is in the shape of U, the mounting frame is in the shape of an open mouth, the inner cavity of the guide rail is slidingly arranged with the mounting frame, and the inner cavity of the mounting frame is arranged with the PLC controller.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1. The application provides a new positioning method by setting the pneumatic assembly, flow guide pipe two, transmission assembly and suction accessory in the anti-shake microsurgery mechanical arm for plastic surgery, which has the advantages of fast reaction speed and good positioning effect, and the positioning of the device is not limited by the guide rail, so that the device can be positioned at any position.

[0025] 2. The application provides a new positioning method by setting the pneumatic assembly and detection assembly in the anti-shake microsurgery mechanical arm for plastic surgery, which can quickly detect the aging of the suction cup and the problem of adsorption failure when the suction cup cannot be tightly attached to the bottom surface.

[0026] 3. The application provides a new positioning method by setting the pneumatic assembly and detection assembly in the anti-shake microsurgery mechanical arm for plastic surgery, which can quickly detect the aging of the suction cup and the problem of adsorption failure when the suction cup cannot be tightly attached to the bottom surface. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a sectional view of the installation frame one of the application;

[0028] Figure 2 is a sectional view of the installation frame one of the application;

[0029] Figure 3 is a sectional view of the rectangular frame one of the application;

[0030] Figure 4 is an installation structure diagram of the detection assembly of the application;

[0031] Figure 5 is an enlarged structure diagram of the application at A in the figure;

[0032] Figure 6 is a structure diagram of the detection assembly of the application;

[0033] Figure 7 is a fan installation structure diagram of the application;

[0034] Figure 8 is an exploded sectional view of the lifting piece of the application;

[0035] Figure 9 This is a schematic diagram of the installation structure of the U-shaped frame of the present invention.

[0036] In the diagram: 1. Operating table; 2. Mounting frame; 3. Robotic arm body; 4. PLC controller; 5. Mounting bracket one; 6. Guide rail; 7. Pneumatic components; 701. Vacuum pump; 702. Connecting frame; 703. Connecting pipe one; 704. Connecting pipe two; 705. Solenoid valve one; 706. Solenoid valve two; 707. Moving block; 708. Sealing plate; 709. Connecting groove one; 710. Connecting groove two; 711. U-shaped frame one; 712. U-shaped frame two; 8. Moving part; 801. Mounting base; 802. Connecting rod; 803. Rolling ball; 9. Rectangular frame one; 10. Adsorption component; 101. Fixing frame; 102. Suction cup; 1 03. Sliding frame; 104. Positioning frame; 11. Detection component; 111. Annular frame; 112. Wire; 113. Lamp holder; 114. Indicator light; 115. Arc magnet; 116. Connecting shaft; 117. Fan; 118. Brush; 119. Electric drive frame; 1110. Mounting bracket two; 1111. Commutator; 12. Transmission component; 121. Rack one; 122. Gear; 123. Rack two; 13. Lifting component; 131. Connecting sleeve; 132. Annular sleeve; 133. Guide tube one; 134. Annular frame one; 135. Annular frame two; 14. Connecting cavity one; 15. Guide tube two; 16. Connecting cavity two. Detailed Implementation

[0037] The following will be combined with the appendix Figure 1 To be continued Figure 9 The technical solutions in the embodiments of the present invention have been clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that, in embodiments of the present invention, the directions shown in the accompanying drawings shall prevail, such as front and back. Figure 1 For the sake of accuracy, the specific details should be as follows: Figure 1 The left side is the front. Figure 1 The right side is the rear; at the same time, as Figure 2 As shown, the horizontal direction is roughly defined as left and right, and the vertical direction is defined as up and down. If a specific orientation changes, the directional indication will also change accordingly.

[0039] Reference Figure 1 - Figure 9As shown, the present application provides a kind of anti-shake microsurgical mechanical arm for orthopedic surgery, including operating table 1 and installation frame 2, operating table 1 side wall is equipped with guide rail 6, and the end surface of installation frame 2 is equipped with mechanical arm body 3, and the bottom surface of installation frame 2 is equipped with four mounting frames one 5 in rectangular distribution, and rectangular frame one 9 is embeddedly installed on the bottom surface of mounting frame one 5, suction accessory 10 is arranged in the inner cavity of rectangular frame one 9, pneumatic assembly 7 is arranged on the outer side wall of mounting frame one 5, transmission assembly 12 is arranged between pneumatic assembly 7 and suction accessory 10, suction accessory 10 is provided with detection assembly 11, and lifting piece 13 is installed in cooperation on suction accessory 10, and guide pipe two 15 is installed in cooperation on lifting piece 13.

[0040] Among them, mechanical arm body 3 uses the relevant corresponding mechanism in the surgical collaborative mechanical arm of the public number CN116269814B, and here will not be described too much.

[0041] Pneumatic assembly 7 includes vacuum pump 701, and vacuum pump 701 is installed on the side wall of guide pipe two 15, and the suction end of vacuum pump 701 is connected with connecting pipe two 704, connecting frame 702 is installed on one side of the outer wall of mounting frame one 5, one side of connecting frame 702 close to mounting frame one 5 is designed as open, two U-shaped frames one 711 are installed on the side wall in the inner cavity of connecting frame 702, moving block 707 is slidably installed between the two U-shaped frames one 711, U-shaped frame two 712 is installed on the side wall of moving block 707, and U-shaped frame two 712 is located between the two U-shaped frames one 711, and closed plate 708 is installed on the side of moving block 707 close to mounting frame one 5.

[0042] Communication groove one 709 is formed in moving block 707, and communication groove two 710 is formed in closed plate 708, and communication groove two 710 and communication groove one 709 are in communication with each other.

[0043] Suction accessory 10 includes fixed frame 101, and fixed frame 101 is installed in the inner cavity of rectangular frame one 9, suction disc 102 is installed on the inner cavity bottom surface of fixed frame 101, suction disc 102 and the inner cavity of fixed frame 101 are in communication, and two positioning frames 104 are installed in the inner cavity of rectangular frame one 9 from top to bottom, and fixed frame 101 slides between the two positioning frames 104.

[0044] Among them, two positioning frames 104 cooperate with sliding frame 103, limit the distance of fixed frame 101 moving up and down, avoid driving rack one 121 excessive movement, cause rack one 121 and gear 122 to be separated.

[0045] Rectangular frame one 9 and mounting frame one 5 are installed with guide pipe two 15, one end of guide pipe two 15 contacts with closed plate 708, and the other end of guide pipe two 15 is located in the inside of rectangular frame one 9.

[0046] In further embodiments, referring to Figure 1 - Figure 4The transmission assembly 12 includes a rack 121 and a gear 122. The side wall of the mounting bracket 5 is provided with a connecting cavity 16, and the side wall of the rectangular frame 9 is provided with a connecting cavity 14. The guide pipe 15 is connected to the connecting cavity 14.

[0047] A gear 122 is rotatably arranged between the inner walls of the connecting cavity 14. A rack 121 is installed on the outer wall of the fixed frame 101 near the connecting cavity 14. A rack 2 123 is installed on the outer wall of the moving block 707 near the connecting cavity 2 16. Both rack 2 123 and rack 121 mesh with the gear 122.

[0048] In this embodiment, the PLC controller 4 controls the opening of the solenoid valve 705 and simultaneously controls the vacuum pump 701 to start. The vacuum pump 701 then extracts the gas from the connecting frame 702, thereby causing the moving block 707 and the sealing plate 708 to move upward under atmospheric pressure. As the moving block 707 rises, it drives the rack 123 to move upward synchronously. Subsequently, under the action of the gear 122 and the rack 121, the fixed frame 101 connected to the rack 121 will move downward, so that the suction cup 102 on the bottom surface of the fixed frame 101 is in close contact with the bottom surface.

[0049] In a further embodiment, refer to Figures 1-4 A sliding frame 103 is installed on the outer wall of the fixed frame 101. The sliding frame 103 slides in the inner cavity of the rectangular frame 9, and the sliding frame 103 is located between the two positioning frames 104.

[0050] A connecting pipe 703 is installed on the upper side wall of the connecting frame 702. The connecting pipe 703 connects the connecting frame 702 to the outside. A solenoid valve 706 is installed on the outer wall of the connecting pipe 703. A solenoid valve 705 is installed on the connecting pipe 704.

[0051] In this embodiment, when the vacuum pump 701 makes the suction cup 102 in close contact with the ground, the solenoid valve 705 is closed to prevent the internal and external airflows from interacting and to improve the tightness of the suction cup 102 adsorption to the ground.

[0052] After the device is used up, the second solenoid valve 706 is opened, and the interior of the connecting frame 702 and the fixed frame 101 will interact with the outside air. Subsequently, the adsorption between the suction cup 102 and the bottom surface will decrease and disappear. Then, under the gravity of the moving block 707 and the closing plate 708, the moving block 707 and the closing plate 708 will descend and reset, and drive the adsorption component 10 to rise through the transmission component 12, thereby resetting the device.

[0053] In a further embodiment, refer to Figure 1 - Figure 4The lifting piece 13 comprises a connecting sleeve 131 and two annular frames 135. An annular sleeve 132 is installed above the inner cavity of the fixed frame 101. Two annular frames 135 are installed in the inner cavity of the annular sleeve 132 from top to bottom. A flow guide pipe 133 is slidingly installed between the two annular frames 135. An annular frame 134 is installed below the outer wall of the flow guide pipe 133. The annular frame 134 is slidingly arranged in the annular sleeve 132 and located between the two annular frames 135.

[0054] The connecting sleeve 131 is slidingly arranged above the outer wall of the flow guide pipe 133. The inner cavity of the connecting sleeve 131 is connected with the outer wall of the flow guide pipe 133.

[0055] In this embodiment, the flow guide pipe 133 is always inside the connecting sleeve 131. The design of the annular frame 135 and the annular sleeve 132 facilitates the up and down movement of the fixed frame 101.

[0056] In further embodiments, referring to Figure 1 Figure 8 The detection assembly 11 comprises an annular frame 111. The annular frame 111 is installed in the inner cavity of the fixed frame 101. Two arc-shaped magnets 115 are symmetrically installed in the inner cavity of the annular frame 111. The magnetic poles of the two arc-shaped magnets 115 are opposite. An installation frame 1110 is installed above the inner cavity of the annular frame 111. A connecting shaft 116 is rotatably installed on the installation frame 1110. Two electric drive frames 119 are fixed on the connecting shaft 116. Two commutators 1111 are respectively installed at the two ends of the electric drive frame 119. Two electric brushes 118 are symmetrically installed below the inner cavity of the annular frame 111. The electric brushes 118 are in contact with the annular frame 111. A fan 117 is installed below the outer wall of the connecting shaft 116. The blade angle of the fan 117 is set to be between 5 degrees and 15 degrees to avoid stall at high angles of attack or insufficient power at low angles of attack.

[0057] Two wires 112 are respectively connected to the two electric brushes 118. The wires 112 are sequentially inserted through the fixed frame 101, the rectangular frame 9 and the installation frame 5 from the side away from the electric brushes 118 and extend to the outside of the installation frame 5. A lamp holder 113 is installed on the outer side wall of the installation frame 5. An indicator lamp 114 is installed on the lamp holder 113. The two ends of the lamp holder 113 are respectively connected to the wires 112.

[0058] The wires 112 are fixedly connected between the rectangular frame 9, the installation frame 5 and the fixed frame 101 and are directly sealed with each other. The length of the wires 112 reserved between the rectangular frame 9 and the fixed frame 101 is greater than the distance between the two U-shaped frames 711.

[0059] ​In the embodiment, when the air-tightness of the suction cup 102 is reduced due to aging, under the suction of the vacuum pump 701, when the communication groove one 709, the communication groove two 710 and the flow guide pipe two 15 are communicated, the air from the outside will enter along the suction cup 102 and blow the fan 117, so as to drive the fan 117 to rotate, and then the fan 117 drives the connecting shaft 116, the electric drive frame 119 and the commutator 1111 to rotate, and the current generated by the rotation of the electric drive frame 119 will pass through the commutator 1111, the electric brush 118 and the wire 112 to the lamp holder 113 and light the indicator lamp 114.

[0060] In further embodiments, with reference to Figure 1 Figure 3 Further comprising a moving piece 8, an installation seat 801 is installed below the outer side wall of the rectangular frame one 9, the bottom surface of the installation seat 801 is rectangularly distributed with four connecting rods 802, and rolling balls 803 are rollingly installed in the connecting rods 802;

[0061] In the embodiment, the design of the rolling balls 803 facilitates multi-angle movement of the device, and the practicability is better than that of the traditional rollers.

[0062] In further embodiments, with reference to Figure 1 The installation frame 2 is slidingly installed in the inner cavity of the guide rail 6, and the PLC controller 4 is installed on the bottom surface of the inner cavity of the installation frame 2;

[0063] In the embodiment, the PLC controller 4 is electrically connected with all electrical equipment of the device and controls the operation thereof.

[0064] The working principle of the device is as follows: when the device is used, the electrical equipment in the device is first powered on, and the following two ways can be used when the device is moved:

[0065] 1. The installation frame 2 and the guide rail 6 are mutually inserted, so as to limit the moving direction of the device;

[0066] 2. The installation frame 2 is not mutually inserted with the guide rail 6, and is directly moved on the ground;

[0067] No matter which moving way is adopted, when the device needs to be positioned after being moved to a specified position, the following operation is adopted:

[0068] The electromagnetic valve one 705 is opened by the PLC controller 4, and the vacuum pump 701 is started at the same time. Then the vacuum pump 701 pumps out the gas in the connecting frame 702, so that the moving block 707 and the closing plate 708 move upward under the action of atmospheric pressure. With the rising of the moving block 707, the rack two 123 is lifted synchronously by the moving block 707. Then under the action of the gear 122 and the rack one 121, the fixed frame 101 connected with the rack one 121 moves downward, so that the suction cup 102 on the bottom surface of the fixed frame 101 is in close contact with the bottom surface.

[0069] With the continuous rising of the moving block 707 and the closing plate 708, the communication groove one 709 and the communication groove two 710 will be in communication with the flow guide pipe two 15. At this time, the air remaining between the suction cup 102 and the bottom surface will be sequentially discharged through the fixed frame 101, the annular sleeve 132, the flow guide pipe one 133, the connecting sleeve 131, the flow guide pipe two 15, the communication groove two 710, the communication groove one 709, the connecting frame 702 and the connecting pipe two 704, so that the suction cup 102 is in close contact with the bottom surface, improving the stability of positioning.

[0070] Since the suction cup 102 is a fragile part, when the air tightness of the suction cup 102 is reduced due to aging, under the action of the vacuum pump 701, when the communication groove one 709 and the communication groove two 710 are in communication with the flow guide pipe two 15, the external air will enter along the suction cup 102 and blow the fan 117, thereby driving the fan 117 to rotate. Then the fan 117 drives the connecting shaft 116, the electric drive frame 119 and the commutator 1111 to rotate. The current generated by the rotation of the electric drive frame 119 will pass through the commutator 1111, the brush 118 and the wire 112 to the lamp holder 113 and light up the indicator light 114.

[0071] When the external air is communicated with the connecting frame 702 through the fixed frame 101, the lifting part 13, the flow guide pipe two 15, the communication groove one 709 and the communication groove two 710, the air pressure in the connecting frame 702 decreases, and the moving block 707 and the closing plate 708 will descend under the action of gravity. Then the communication groove two 710 and the communication groove one 709 will not be in communication with the flow guide pipe two 15. At this time, the fixed frame 101 stops air intake, and then the indicator light 114 is extinguished.

[0072] At this time, the connecting frame 702 will be in a sealed state again, and then the above operation will be repeated under the action of the vacuum pump 701, so that the indicator light 114 will flicker constantly, thereby warning medical staff.

[0073] Those skilled in the art can make various modifications and changes to the above embodiments according to the disclosure and teachings herein. Therefore, the application is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the application shall fall within the protection scope of the claims of the application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the application.

Claims

1. A jolt-free microsurgical robot arm for plastic surgery, comprising a surgical bed (1) and a mounting frame (2), characterized in that, The end surface of the mounting frame (2) is provided with a mechanical arm body (3), the bottom surface of the mounting frame (2) is provided with four mounting frames (5) in a rectangular distribution, the bottom surface of the mounting frame (5) is embeddedly provided with a rectangular frame (9), the inner cavity of the rectangular frame (9) is provided with a suction accessory (10), the outer side wall of the mounting frame (5) is provided with a pneumatic assembly (7), the transmission assembly (12) is arranged between the suction accessory (10) and the pneumatic assembly (7), the suction accessory (10) is provided with a detection assembly (11), and the suction accessory (10) is cooperatively provided with a lifting piece (13), and the lifting piece (13) is cooperatively provided with a flow guide pipe (15). The pneumatic assembly (7) comprises a vacuum pump (701), the vacuum pump (701) is arranged on the side wall of the flow guide pipe (15), the air suction end of the vacuum pump (701) is connected with a connecting pipe (704), the outer wall of the mounting frame (5) is provided with a connecting frame (702), one side of the connecting frame (702) close to the mounting frame (5) is designed to be open, two U-shaped frames (711) are arranged on the side wall of the inner cavity of the connecting frame (702), a moving block (707) is slidably arranged between the two U-shaped frames (711), the side wall of the moving block (707) is provided with a U-shaped frame (712), the U-shaped frame (712) is located between the two U-shaped frames (711), and the side of the moving block (707) close to the mounting frame (5) is provided with a closing plate (708). The moving block (707) is provided with a communication groove (709), the closing plate (708) is provided with a communication groove (710), and the communication groove (710) and the communication groove (709) are in communication. The suction accessory (10) comprises a fixed frame (101), the inner cavity of the rectangular frame (9) is provided with a fixed frame (101), the inner cavity of the fixed frame (101) is provided with a suction disc (102), and the suction disc (102) and the inner cavity of the fixed frame (101) are in communication.

2. The anti-shake microscopic mechanical arm for surgical reduction according to claim 1, characterized in that: The inner cavity of the rectangular frame (9) is provided with two positioning frames (104) from top to bottom, and the fixed frame (101) slides between the two positioning frames (104). The rectangular frame (9) and the mounting frame (5) are provided with a flow guide pipe (15), one end of the flow guide pipe (15) is in contact with the closing plate (708), and the other end of the flow guide pipe (15) is located in the rectangular frame (9). The transmission assembly (12) comprises a rack (121) and a gear (122), the side wall of the mounting frame (5) is provided with a connecting cavity (16), the side wall of the rectangular frame (9) is provided with a connecting cavity (14), and the flow guide pipe (15) and the connecting cavity (14) are in communication. The inner cavity side wall of the connecting cavity (14) is rotatably provided with a gear (122), the outer wall of the side of the fixed frame (101) close to the connecting cavity (14) is provided with a rack (121), the outer wall of the side of the moving block (707) close to the connecting cavity (16) is provided with a rack (123), and the rack (123) and the rack (121) are in meshing connection with the gear (122).

3. The anti-shake microscopic mechanical arm for surgical correction according to claim 1, characterized in that: The outer wall of the fixed frame (101) is provided with a sliding frame (103), the sliding frame (103) slides in the inner cavity of the rectangular frame (9), and the sliding frame (103) is located between the two positioning frames (104); The outer wall of the connecting pipe one (703) is provided with the electromagnetic valve two (706), and the connecting pipe two (704) is provided with the electromagnetic valve one (705).

4. The anti-shake microscopic mechanical arm for surgical reduction according to claim 1, characterized in that: The inner cavity of the fixed frame (101) is provided with an annular sleeve (132), the inner cavity of the annular sleeve (132) is provided with two annular frames two (135) from top to bottom, the two annular frames two (135) are slidably provided with the flow guide pipe one (133), the outer wall of the flow guide pipe one (133) is provided with the annular frame one (134) below, the annular frame one (134) is slidably arranged in the annular sleeve (132), and the annular frame one (134) is located between the two annular frames two (135); The outer wall of the flow guide pipe one (133) is slidably provided with the connecting sleeve (131), and the inner cavity of the connecting sleeve (131) is connected with the outer wall of the flow guide pipe two (15).

5. The anti-shake microscopic mechanical arm for surgical correction according to claim 1, characterized in that: The inner cavity of the fixed frame (101) is provided with the annular frame (111), the inner cavity of the annular frame (111) is symmetrically provided with the arc-shaped magnet (115), the magnetic poles of the two arc-shaped magnets (115) are opposite, the inner cavity of the annular frame (111) is provided with the mounting frame two (1110) above, the mounting frame two (1110) is rotatably provided with the connecting shaft (116), the connecting shaft (116) is inserted and fixed with the two electric drive frames (119), the two ends of the electric drive frame (119) are respectively provided with the commutator (1111), the inner cavity of the annular frame (111) is symmetrically provided with the brush (118) below, the brush (118) is in contact with the annular frame (111), the outer wall of the connecting shaft (116) is provided with the fan (117) below, the blade angle of the fan (117) is arranged to be between 5 degrees and 15 degrees, so as to avoid stall at large angle of attack or insufficient power at small angle of attack.

6. The anti-shake microscopic mechanical arm for surgical correction according to claim 5, characterized in that: The two brushes (118) are respectively connected with the wires (112), the wires (112) away from the brushes (118) are sequentially inserted into the fixed frame (101), the rectangular frame one (9) and the mounting frame one (5), and extend to the outside of the mounting frame one (5), the outer wall of the mounting frame one (5) is provided with the lamp holder (113), the lamp holder (113) is provided with the indicator lamp (114), and the two ends of the lamp holder (113) are respectively connected with the wires (112).

7. The anti-shake microscopic mechanical arm for surgical correction according to claim 6, characterized in that: The wire (112) is fixedly connected with the rectangular frame (9) and the mounting frame (1) and is directly sealed with each other, the wire (112) is fixedly connected with the fixed frame (101) and is sealed with each other, the length of the wire (112) reserved between the rectangular frame (9) and the fixed frame (101) is greater than the distance length between the two U-shaped frames (711).

8. The anti-shake microscopic mechanical arm for surgical reduction according to claim 1, characterized in that: Further comprising a moving piece (8), the outer side wall of the rectangular frame (9) is provided with a mounting seat (801) below, the bottom surface of the mounting seat (801) is provided with four connecting rods (802) in a rectangular distribution, and the connecting rods (802) are rotatably provided with rolling beads (803).

9. The anti-shake microscopic mechanical arm for surgical reduction according to claim 1, characterized in that: The surgical bed (1) is provided with a guide rail (6) on the side wall, the guide rail (6) is in the shape of a U, the mounting frame (2) is in the shape of a mouth, the mounting frame (2) is slidably arranged in the inner cavity of the guide rail (6), and the inner cavity bottom surface of the mounting frame (2) is provided with a PLC controller (4).

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