Minimally invasive surgery robot for orthopedics department

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses an orthopedic minimally invasive surgery robot which comprises a mechanical arm body. A mounting rod is fixedly connected to the front end of the mechanical arm body, a servo motor is fixedly connected to the inner wall of the mounting rod, and a driving rod is mounted at the output end of the servo motor; through the arrangement of the mechanical arm body, the servo motor, the driving gear, the connecting gear, the limiting sleeve, clamping teeth, a limiting rod and a first electric telescopic rod, the high-precision transmission and dynamic locking functions of the mechanical arm are achieved, and the servo motor drives an end effector to rotate through a gear train; meanwhile, a meshing mechanism of the limiting sleeve and the positioning teeth can rapidly lock the position of the mechanical arm when needed, accidental displacement in the operation process is prevented, the stability of power transmission is guaranteed, a reliable safe locking mechanism is provided, and therefore the effects of precise positioning and stable operation in the complex orthopedic operation are achieved; and the safety and the controllability of the operation are obviously improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to an orthopedic minimally invasive surgical robot. Background Art

[0002] In recent years, with the continuous advancement of medical technology, the field of orthopedic surgery is undergoing a profound transformation from traditional open surgery to minimally invasive surgery. Minimally invasive surgery has gradually become the mainstream trend of orthopedic surgery with its advantages of less trauma, faster recovery and fewer complications. Against this background, orthopedic minimally invasive surgical robots, as a multidisciplinary cross-product integrating mechanical engineering, electronic technology, computer science and medicine, have emerged and developed rapidly. These robotic systems use high-precision robotic arms, intelligent navigation and positioning technology, as well as advanced sensors and control algorithms to achieve precise control of surgical instruments, significantly improving the accuracy and safety of surgery, and providing strong technical support for orthopedic surgeons.

[0003] However, although existing orthopedic minimally invasive surgical robots have made significant progress in improving surgical accuracy and efficiency, in complex orthopedic surgical environments, how to ensure the stable positioning and dynamic locking of the angle adjustment mechanism at the front end of the robotic arm during long-term surgery is still a key issue that needs to be solved. Traditional surgical robots often rely on a single motor brake or mechanical damping to achieve the fixation of the robotic arm. This method is prone to slight displacement when facing external force interference or accidental collisions in complex surgical operations, which in turn affects surgical accuracy and even poses a potential threat to patient safety. Specifically, when the surgical robot needs to perform high-precision operations, such as pedicle screw implantation, any slight position deviation may cause damage to nerves or blood vessels, increasing the risk of surgery, so staff need to improve it. Summary of the Invention

[0004] The purpose of the present invention is to provide an orthopedic minimally invasive surgical robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An orthopedic minimally invasive surgical robot, comprising:

[0007] Robotic arm body;

[0008] The front end of the robot arm body is fixedly connected to a mounting rod, the inner wall of the mounting rod is fixedly connected to a servo motor, the output end of the servo motor is installed with a driving rod, and the front end of the driving rod is fixedly connected to a driving gear;

[0009] The surface of the driving gear is meshed with a connecting gear, one side of the connecting gear is fixedly connected to a rotating rod, and the other side of the connecting gear is fixedly connected to a limiting sleeve, and the inner wall of the limiting sleeve is fixedly connected to two groups of annularly opposed locking teeth, the inner wall of the mounting rod is fixedly connected to a fixing rod, the surface of the fixing rod is fixedly connected to the limiting rod, and the surface of the limiting rod is inserted into the inner wall of the limiting sleeve, and the limiting rod does not contact the limiting sleeve, and the inner wall of the limiting rod is fixedly connected to a first electric telescopic rod, and the output end of the first electric telescopic rod is fixedly connected to a mounting plate, and the top of the mounting plate is fixedly connected to positioning teeth arranged in annularly opposed patterns on both sides, and the positioning teeth are meshed with the locking teeth.

[0010] Preferably, the surface of the connecting gear is meshedly connected to a transmission gear, the back of the transmission gear is fixedly connected to a connecting rod, one end of the connecting rod is fixedly connected to a conical mounting column, a plug-in hole is provided on the surface of the conical mounting column, and limiting holes are provided on both sides of the plug-in hole on the surface of the conical mounting column.

[0011] Preferably, a reinforcing plate is overlapped on the surface of the conical mounting column, the back side of the reinforcing plate is fixedly connected to an assembly rod, and the surface of the assembly rod is inserted into the inner wall of the insertion hole, positioning holes are provided on both sides of the surface of the assembly rod, one end of the assembly rod is fixedly connected to a negative magnetic block, the back side of the reinforcing plate is located on both sides of the assembly rod and is fixedly connected to positioning rods, and the surface of the positioning rod is inserted into the inner wall of the limiting hole.

[0012] Preferably, the inner wall of the conical mounting column is fixedly connected to an iron core, and the iron core is adsorbed and connected to the negative magnetic block, and one side of the inner wall of the conical mounting column is fixedly connected to a first electrical connector, the surface of the first electrical connector is electrically connected to a first electromagnetic coil, and the surface of the first electromagnetic coil is wound and connected to the surface of the iron core, and the other side of the inner wall of the conical mounting column is fixedly connected to a second electrical connector, the surface of the second electrical connector is electrically connected to a second electromagnetic coil, and the surface of the second electromagnetic coil is wound and connected to the surface of the iron core, and the second electromagnetic coil and the first electromagnetic coil are arranged crosswise.

[0013] Preferably, the inner wall of the conical mounting column is located on both sides of the plug-in hole and is fixedly connected to a second electric telescopic rod, and the output end of the second electric telescopic rod is plugged into the inner wall of the positioning hole, and the second electric telescopic rod and the second electrical connector are electrically connected to each other.

[0014] Preferably, a control rod is fixedly connected to the surface of the reinforcement plate, a front end of the control rod is fixedly connected to an operating member body, a top of the operating member body is electrically connected to a wire, and a control handle is fixedly connected to the surface of the operating member body.

[0015] Preferably, the bottom of the robotic arm body is fixedly connected to a mounting plate, the bottom of the mounting plate is fixedly connected to an assembly platform, universal wheels are fixedly connected to the four sides of the bottom of the assembly platform, and a handle is fixedly connected to the top of one side of the assembly platform.

[0016] Preferably, a control panel is fixedly connected to the top of the assembly platform, and a display panel is fixedly connected to one side of the top of the assembly platform located on the control panel.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) Through the arrangement of the robot arm body, servo motor, driving gear, connecting gear, limiting sleeve, latching gear, limiting rod and first electric telescopic rod, the high-precision transmission and dynamic locking function of the robot arm are realized. The servo motor drives the end effector to rotate through the gear system. At the same time, the meshing mechanism of the limiting sleeve and the positioning gear can quickly lock the position of the robot arm when needed to prevent accidental displacement during the operation. It not only ensures the stability of power transmission, but also provides a reliable safety locking mechanism, thereby achieving the effect of precise positioning and stable operation in complex orthopedic surgery, and significantly improving the safety and controllability of the operation.

[0019] (2) Through the arrangement of the conical mounting column, the plug hole, the limit hole, the assembly rod, the negative pole magnetic block, the iron core, the electromagnetic coil and the second electric telescopic rod, the surgical instruments can be quickly replaced and double fixed. The magnetic adsorption mechanism makes the installation of the instruments convenient and efficient, while the mechanical locking structure further enhances the rigidity of the connection, ensuring that the instruments will not loosen or shift during the operation. The polarity switching function of the electromagnetic coil makes the disassembly of the instruments easier, and the linkage design of the second electric telescopic rod further optimizes the operation process. The fixing method of the combination of magnetic and mechanical forces achieves the effect of rapid replacement of instruments, high-precision positioning and stable operation during the operation, which greatly improves the efficiency and reliability of the operation.

[0020] (3) Through the setting of the mounting plate, assembly platform, universal wheels, control panel and display panel, the surgical robot can be flexibly moved, accurately positioned and intelligently controlled. The universal wheels enable the device to move freely and lock quickly, meeting the flexible layout requirements in the operating room; the integrated design of the control panel and display panel provides doctors with an intuitive operating interface and real-time data feedback, facilitating intraoperative adjustment and monitoring. The rigid connection between the mounting plate and the assembly platform ensures the stability of the robotic arm during surgery. The design combines maneuverability and intelligence, thereby achieving the effect of rapid positioning of the device, convenient operation and real-time visualization of intraoperative data during surgery, providing doctors with more efficient and safe surgical support. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A perspective view of the present invention;

[0022] Figure 2 is a perspective view of the servo motor of the present invention;

[0023] Figure 3 A perspective view of the limiting rod of the present invention;

[0024] Figure 4 A three-dimensional diagram of the latching teeth of the present invention;

[0025] Figure 5 A perspective view of the iron core of the present invention;

[0026] Figure 6 A three-dimensional diagram of the negative pole magnetic block of the present invention;

[0027] Figure 7 A perspective view of a tapered mounting post according to the present invention;

[0028] Figure: 1. Robotic arm body; 2. Mounting rod; 3. Servo motor; 4. Driving rod; 5. Driving gear; 6. Connecting gear; 7. Rotating rod; 8. Limiting sleeve; 9. Gear; 10. Fixing rod; 11. Limiting rod; 12. First electric telescopic rod; 13. Mounting plate; 14. Positioning gear; 15. Transmission gear; 16. Connecting rod; 17. Conical mounting column; 18. Plug hole; 19. Limiting hole; 20. Reinforcement plate; 21. Assembly rod ; 22. Positioning hole; 23. Negative magnetic block; 24. Positioning rod; 25. Iron core; 26. First electrical connector; 27. First electromagnetic coil; 28. Second electrical connector; 29. ​​Second electromagnetic coil; 30. Second electric telescopic rod; 31. Control rod; 32. Operating part body; 33. Wire; 34. Control handle; 35. Mounting plate; 36. Assembly platform; 37. Universal wheel; 38. Handle; 39. Control panel; 40. Display panel. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Example 1:

[0031] See also Figures 1 to 7 As shown, a minimally invasive orthopedic surgical robot comprises: a robotic arm body 1;

[0032] The front end of the robot arm body 1 is fixedly connected to a mounting rod 2, the inner wall of the mounting rod 2 is fixedly connected to a servo motor 3, the output end of the servo motor 3 is installed with a driving rod 4, and the front end of the driving rod 4 is fixedly connected to a driving gear 5;

[0033] The surface of the driving gear 5 is meshed with a connecting gear 6, one side of the connecting gear 6 is fixedly connected to a rotating rod 7, and the other side of the connecting gear 6 is fixedly connected to a limiting sleeve 8. The inner wall of the limiting sleeve 8 is fixedly connected with two groups of annularly opposed locking teeth 9. The inner wall of the mounting rod 2 is fixedly connected with a fixing rod 10, and the surface of the fixing rod 10 is fixedly connected to the limiting rod 11, and the surface of the limiting rod 11 is inserted into the inner wall of the limiting sleeve 8. The limiting rod 11 does not contact the limiting sleeve 8, and the inner wall of the limiting rod 11 is fixedly connected to a first electric telescopic rod 12. The output end of the first electric telescopic rod 12 is fixedly connected to a mounting plate 13, and the top of the mounting plate 13 is fixedly connected with positioning teeth 14 arranged in annular opposite directions on both sides, and the positioning teeth 14 are meshed with the locking teeth 9. The surface of the connecting gear 6 is meshed with a transmission gear 15, and the back of the transmission gear 15 is fixedly connected to a connecting rod 16, and one end of the connecting rod 16 is fixedly connected to a conical mounting column 17.

[0034] When in use, the robot arm body 1 serves as the basic support and adjustment structure, and the servo motor 3 is fixed in the mounting rod 2 at its front end, and the driving rod 4 at the output end of the servo motor 3 drives the driving gear 5 to rotate; the driving gear 5 is meshed with the connecting gear 6 for transmission, and one side of the connecting gear 6 is kept stable by the rotating rod 7, and the other side is fixed with a limiting sleeve 8, and the inner wall of the limiting sleeve 8 is provided with an annular opposing locking tooth 9; the fixed rod 10 fixed in the mounting rod 2 extends a limiting rod 11, and the limiting rod 11 is inserted into the limiting sleeve 8 but remains in a non-contact state, and the first electric telescopic rod 12 inside it pushes the mounting plate 13, so that the positioning tooth 14 on the mounting plate 13 engages with the locking tooth 9 to realize mechanical locking. ; The connecting gear 6 simultaneously engages the transmission gear 15, and the transmission gear 15 drives the conical mounting column 17 to rotate through the connecting rod 16, so that the servo motor 3 provides the original power. After the secondary deceleration of the gear system, the end effector is driven to rotate through the connecting gear 6. The other way is through the engagement of the limiting sleeve 8 on one side of the connecting gear 6 with the positioning tooth 14 to achieve motion self-locking, among which the extension and retraction of the first electric telescopic rod 12 controls the switching of the locking state, and the conical mounting column 17 serves as the final power output end. Its rotation accuracy is jointly guaranteed by the gear transmission ratio and the limiting mechanism. The whole system realizes the dual functions of power transmission and safety locking while ensuring high transmission rigidity.

[0035] Example 2:

[0036] See also Figures 1 to 7As shown, a plug-in hole 18 is provided on the surface of the conical mounting post 17, and limiting holes 19 are provided on both sides of the plug-in hole 18 on the surface of the conical mounting post 17. A reinforcing plate 20 is overlapped on the surface of the conical mounting post 17, and an assembly rod 21 is fixedly connected to the back of the reinforcing plate 20, and the surface of the assembly rod 21 is inserted into the inner wall of the plug-in hole 18. Positioning holes 22 are provided on both sides of the surface of the assembly rod 21. One end of the assembly rod 21 is fixedly connected to a negative magnetic block 23, and the back of the reinforcing plate 20 is fixedly connected to positioning rods 24 on both sides of the assembly rod 21, and the surface of the positioning rod 24 is inserted into the inner wall of the limiting hole 19. An iron core 25 is fixedly connected to the inner wall of the conical mounting post 17, and the iron core 25 is adsorbed and connected to the negative magnetic block 23. A first electrical connector 26 is fixedly connected to one side of the inner wall of the conical mounting post 17, and a first electromagnetic coil 27 is electrically connected to the surface of the first electrical connector 26. The surface of the first electromagnetic coil 27 is wound and connected to the surface of the iron core 25, and the other side of the inner wall of the conical mounting column 17 is fixedly connected to the second electrical connector 28. The surface of the second electrical connector 28 is electrically connected to the second electromagnetic coil 29, and the surface of the second electromagnetic coil 29 is wound and connected to the surface of the iron core 25. The second electromagnetic coil 29 and the first electromagnetic coil 27 are arranged crosswise. The inner wall of the conical mounting column 17 is located on both sides of the plug-in hole 18 and is fixedly connected to the second electric telescopic rod 30, and the output end of the second electric telescopic rod 30 is plugged into the inner wall of the positioning hole 22. The second electric telescopic rod 30 and the second electrical connector 28 are electrically connected to each other. A control rod 31 is fixedly connected to the surface of the reinforcement plate 20, and the front end of the control rod 31 is fixedly connected to the operating part body 32. The top of the operating part body 32 is electrically connected to the wire 33, and the surface of the operating part body 32 is fixedly connected to the control handle 34.

[0037] The surface of the conical mounting column 17 is provided with a plug hole 18 and symmetrically distributed limit holes 19. The assembly rod 21 on the back of the reinforcement plate 20 is inserted into the plug hole 18, and the positioning rods 24 on both sides are embedded in the limit holes 19 to ensure the axial alignment accuracy of the instrument and prevent rotational deviation.

[0038] A negative magnetic block 23 is fixed to the end of the assembly rod 21, and an iron core 25 is embedded in the conical mounting column 17, and the two form the foundation of the magnetic circuit.

[0039] When the first electrical connector 26 is energized, the first electromagnetic coil 27 is activated, causing the iron core 25 to exhibit positive magnetic properties and be strongly attracted to the negative magnetic block 23 , thereby ensuring a secure connection between the reinforcing plate 20 .

[0040] When disassembly is required, the second electrical connector 28 is energized, and the second electromagnetic coil 29 generates a reverse magnetic field, which reverses the polarity of the iron core 25 and repels the negative magnetic block 23, thereby easily separating the assembly rod 21.

[0041] In addition to magnetic adsorption, a second electric telescopic rod 30 is provided inside the conical mounting column 17, the output end of which can be inserted into the positioning hole 22 of the assembly rod 21 to form an additional mechanical lock to prevent the instrument from loosening due to external force during surgery.

[0042] The second electric telescopic rod 30 is linked to the second electrical connector 28. When the magnetic poles are switched and ready for disassembly, the second electric telescopic rod 30 is automatically retracted to release the mechanical lock, making the replacement of the device more convenient.

[0043] The reinforcement plate 20 is connected to the operating part body 32 through the control rod 31. The doctor can perform fine operations by controlling the handle 34. The wire 33 transmits electrical signals to ensure the stability and response speed of the instrument.

[0044] Example 3:

[0045] See also Figures 1 to 7 As shown, the bottom of the robot arm body 1 is fixedly connected to a mounting plate 35, the bottom of the mounting plate 35 is fixedly connected to an assembly platform 36, universal wheels 37 are fixedly connected to the four sides of the bottom of the assembly platform 36, a handle 38 is fixedly connected to the top of one side of the assembly platform 36, a control panel 39 is fixedly connected to the top of the assembly platform 36, and a display panel 40 is fixedly connected to the top of the assembly platform 36 on one side of the control panel 39.

[0046] When in use, the mounting plate 35 serves as the supporting base of the robot body 1 and is rigidly connected to the assembly platform 36 at the bottom to form a stable support frame; the universal wheels 37 configured at the four corners of the bottom of the assembly platform 36 adopt medical-grade braking devices, which can achieve instant locking while ensuring 360-degree free movement, meeting the precise positioning requirements of the operating room; the handle 38 set on the side of the platform is designed with an ergonomic tilt angle to facilitate medical staff to push and turn operations; the control panel 39 integrated on the top of the assembly platform 36 has a built-in touch module and physical button dual operating system, and is waterproof and antibacterial Ensure reliable interaction in the surgical environment; the adjacent display panel 40 adopts a medical-grade high-brightness anti-glare screen to display the robot arm motion parameters, surgical navigation images and force feedback data in real time. Through the collaborative design of the mobile platform and intelligent control, it not only maintains the position flexibility brought by the universal wheel 37, but also ensures intraoperative stability through the rigid connection between the mounting plate 35 and the assembly platform 36. The integrated layout of the control panel 39 and the display panel 40 realizes the centralized management of parameter adjustment and status monitoring. The whole system can meet the dual requirements of different surgical procedures for equipment positioning accuracy and operation convenience.

[0047] Example 4:

[0048] See also Figures 1 to 7As shown, pedicle screw implantation is a key step in spinal surgery to treat spinal fractures, deformities or degenerative diseases. Traditional surgery relies on manual operation by doctors, which has the following problems:

[0049] Insufficient precision: Deviation in the screw placement angle may result in nerve or blood vessel damage.

[0050] Radiation exposure: Multiple X-rays are required during surgery, increasing the radiation risk for doctors and patients.

[0051] Complicated operation: Manual adjustment of instruments is time-consuming and prolongs the operation time.

[0052] The orthopedic minimally invasive surgical robot of the present invention can significantly improve surgical safety and efficiency through high-precision robotic arms, intelligent locking systems, and quick-change modules.

[0053] Equipment configuration: Push the assembly platform 36 to the side of the operating table and lock it with universal wheels 37. The control panel 39 inputs the patient's CT data, and the display panel 40 generates a three-dimensional navigation path to plan the screw implantation points and angles.

[0054] Instrument installation: Select the appropriate pedicle screw operating member 32, and insert the reinforcement plate 20 at the end of its control rod 31 into the insertion hole 18 of the tapered mounting column 17 through the assembly rod 21. At this time:

[0055] Magnetic adsorption: The negative pole magnetic block 23 and the iron core 25 are automatically adsorbed, and the first electromagnetic coil 27 is energized to enhance the fixation.

[0056] Mechanical locking: The positioning rod 24 is inserted into the limiting hole 19, and the second electric telescopic rod 30 is extended and locked into the positioning hole 22, thereby doubly locking the operating member.

[0057] Robotic arm positioning: The doctor adjusts the robotic arm body 1 to a preset position by controlling the handle 34. The servo motor 3 drives the driving gear 5 and the connecting gear 6, driving the conical mounting column 17 to rotate and accurately align with the pedicle entrance.

[0058] Dynamic locking: When adjustment needs to be paused, the first electric telescopic rod 12 pushes the mounting plate 13, so that the positioning teeth 14 engage with the locking teeth 9 of the limiting sleeve 8, and the mechanical arm is locked instantly to avoid accidental displacement.

[0059] Screw implantation: The operating unit 32 is screwed onto the guide wire under navigation guidance and then replaced with a screw driver. By energizing the second electrical connector 28 to switch the magnetic poles to repulsive state, the current operating unit can be quickly removed and replaced with a new device in just 5 seconds.

[0060] Working principle: The main body 1 of the robotic arm serves as the supporting structure of the entire system. The mounting rod 2 at its front end has a built-in servo motor 3, which drives the drive gear 5 to rotate through the drive rod 4. The drive gear 5 engages with the connecting gear 6 to form a first-stage reduction transmission, thereby improving the stability of the torque output. One side of the connecting gear 6 maintains rotational balance through the rotating rod 7, and the other side is fixed with a limiting sleeve 8. The limiting sleeve 8 is provided with an annular opposing latch 9 inside, which is used to engage with the positioning teeth 14 in the limiting rod 11 to achieve a mechanical self-locking function. When it is necessary to lock the movement of the robotic arm, the first electric telescopic rod 12 pushes the mounting plate 13, so that the positioning teeth 14 are tightly engaged with the latch 9 to prevent accidental rotation of the gear and ensure the stable positioning of the surgical instrument. At the same time, the connecting gear 6 also engages with the transmission gear 15, which drives the conical mounting column 17 to rotate through the connecting rod 16, and finally transmits power to the end effector such as a bone drill, screw driver, etc.

[0061] During the power transmission process, the speed and direction of the servo motor 3 are precisely adjusted by the control panel 39 to ensure that the movement of the robotic arm conforms to the path planned before the operation. In addition, the conical mounting column 17, as the core component of the instrument connection, adopts a dual fixing method of magnetic adsorption and mechanical locking to ensure the rapid replacement and firm fixation of the instrument. The reinforcement plate 20 is inserted into the plug hole 18 of the conical mounting column 17 through the assembly rod 21, and the positioning rod 24 is embedded in the limit hole 19 to achieve preliminary alignment. The negative magnetic block 23 at the end of the assembly rod 21 forms a magnetic adsorption with the iron core 25 inside the conical mounting column 17, and the magnetic pole direction is switched by energizing the first electromagnetic coil 27 or the second electromagnetic coil 29 to achieve adsorption or repulsion function, which is convenient for quick disassembly and assembly. In addition, the second electric telescopic rod 30 can be extended and inserted into the positioning hole 22 of the assembly rod 21 to further enhance the connection rigidity and prevent the instrument from loosening or shifting during surgery.

[0062] During surgery, the entire system monitors the robotic arm's motion parameters and force feedback data in real time via a display panel 40. The surgeon can fine-tune the grip 34 to ensure precise positioning and stable operation of the surgical instruments. This robot's design not only improves surgical accuracy and safety but also significantly reduces the surgeon's operational complexity, making it suitable for a variety of high-precision, minimally invasive orthopedic surgeries.

[0063] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A minimally invasive orthopedic surgical robot, characterized in that: include: Robotic arm body (1); The front end of the mechanical arm body (1) is fixedly connected to a mounting rod (2), the inner wall of the mounting rod (2) is fixedly connected to a servo motor (3), the output end of the servo motor (3) is installed with a driving rod (4), and the front end of the driving rod (4) is fixedly connected to a driving gear (5); The surface of the driving gear (5) is meshedly connected with a connecting gear (6), one side of the connecting gear (6) is fixedly connected with a rotating rod (7), and the other side of the connecting gear (6) is fixedly connected with a limiting sleeve (8), and the inner wall of the limiting sleeve (8) is fixedly connected with two groups of ring-shaped oppositely arranged latching teeth (9), and the inner wall of the mounting rod (2) is fixedly connected with a fixing rod (10), and the surface of the fixing rod (10) is fixedly connected with a limiting rod (11), and the surface of the limiting rod (11) is inserted into the inner wall of the limiting sleeve (8), and the limiting rod (11) does not contact the limiting sleeve (8), and the inner wall of the limiting rod (11) is fixedly connected with a first electric telescopic rod (12), and the output end of the first electric telescopic rod (12) is fixedly connected with a mounting plate (13), and the top of the mounting plate (13) is fixedly connected with positioning teeth (14) arranged in a ring-shaped opposite manner on both sides, and the positioning teeth (14) are meshed with the latching teeth (9).

2. The orthopedic minimally invasive surgical robot according to claim 1, characterized in that: The surface of the connecting gear (6) is meshedly connected with a transmission gear (15), the back of the transmission gear (15) is fixedly connected with a connecting rod (16), one end of the connecting rod (16) is fixedly connected with a conical mounting column (17), a plug hole (18) is provided on the surface of the conical mounting column (17), and limiting holes (19) are provided on both sides of the plug hole (18) on the surface of the conical mounting column (17).

3. The orthopedic minimally invasive surgical robot according to claim 2, characterized in that: The surface of the conical mounting column (17) is overlapped with a reinforcing plate (20), the back of the reinforcing plate (20) is fixedly connected to an assembly rod (21), and the surface of the assembly rod (21) is plugged into the inner wall of the plug hole (18), positioning holes (22) are provided on both sides of the surface of the assembly rod (21), one end of the assembly rod (21) is fixedly connected to a negative magnetic block (23), the back of the reinforcing plate (20) is located on both sides of the assembly rod (21) and is fixedly connected to a positioning rod (24), and the surface of the positioning rod (24) is plugged into the inner wall of the limiting hole (19).

4. The orthopedic minimally invasive surgical robot according to claim 2, characterized in that: The inner wall of the conical mounting column (17) is fixedly connected to an iron core (25), and the iron core (25) is adsorbed and connected to the negative magnetic block (23); one side of the inner wall of the conical mounting column (17) is fixedly connected to a first electrical connector (26); the surface of the first electrical connector (26) is electrically connected to a first electromagnetic coil (27), and the surface of the first electromagnetic coil (27) is wound and connected to the surface of the iron core (25); the other side of the inner wall of the conical mounting column (17) is fixedly connected to a second electrical connector (28); the surface of the second electrical connector (28) is electrically connected to a second electromagnetic coil (29), and the surface of the second electromagnetic coil (29) is wound and connected to the surface of the iron core (25); the second electromagnetic coil (29) and the first electromagnetic coil (27) are arranged crosswise.

5. The orthopedic minimally invasive surgical robot according to claim 2, characterized in that: The inner wall of the conical mounting column (17) is located on both sides of the plug hole (18), and a second electric telescopic rod (30) is fixedly connected, and the output end of the second electric telescopic rod (30) is plugged into the inner wall of the positioning hole (22), and the second electric telescopic rod (30) and the second electrical connector (28) are electrically connected to each other.

6. The orthopedic minimally invasive surgical robot according to claim 3, characterized in that: The surface of the reinforcing plate (20) is fixedly connected to a control rod (31), the front end of the control rod (31) is fixedly connected to an operating member body (32), the top of the operating member body (32) is electrically connected to a wire (33), and the surface of the operating member body (32) is fixedly connected to a control handle (34).

7. The orthopedic minimally invasive surgical robot according to claim 1, characterized in that: The bottom of the mechanical arm body (1) is fixedly connected to a mounting plate (35), the bottom of the mounting plate (35) is fixedly connected to an assembly platform (36), the bottom of the assembly platform (36) is fixedly connected to universal wheels (37) around its periphery, and a handle (38) is fixedly connected to the top of one side of the assembly platform (36).

8. The orthopedic minimally invasive surgical robot according to claim 7, characterized in that: A control panel (39) is fixedly connected to the top of the assembly platform (36), and a display panel (40) is fixedly connected to the top of the assembly platform (36) on one side of the control panel (39).

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