Rapid tool assembling and disassembling flexible device for tail end of oral cranio-maxillofacial osteotomy robot

Abstract

The invention provides a rapid tool assembling and disassembling flexible device for the tail end of an oral cranio-maxillofacial osteotomy robot. The rapid tool assembling and disassembling flexible device comprises a mounting base, an instrument clamp and a tool assembly. The mounting base comprises an electrical isolation switching mounting plate, one end of the electrical isolation switching mounting plate is fixed to a flange at the tail end of the mechanical arm, the other end of the electrical isolation switching mounting plate is connected with the marker assembly through the clamping base, the marker assembly comprises a marker supporting rod, and a plurality of markers are arranged on the marker supporting rod; the instrument clamp comprises an instrument fixing base, one end of the instrument fixing base fixes an instrument through an instrument pressing block, and the other end of the instrument fixing base is sequentially connected with a grab handle, an instrument connecting piece and an instrument clamping base. And an instrument clamping seat of the instrument clamp is matched with a clamping base of the mounting base to realize quick replacement and mounting of an instrument fixed on the instrument clamp at the tail end of the mechanical arm. According to the device, various surgical tools can be rapidly and accurately installed and replaced at the tail end of the mechanical arm, and meanwhile, a stable and reliable sterile barrier is constructed between the surgical tools and the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a smart device for quickly assembling and disassembling tools at the end of an oral craniomaxillofacial osteotomy robot. Background Art

[0002] Oral and craniomaxillofacial osteotomy is a type of surgery used to correct deformities of the oral and craniomaxillofacial skeleton or improve related function and appearance. During the operation, according to the specific surgical plan, the surgeon will make an incision in the mouth or corresponding part of the face to expose the bone that needs to be cut. Specialized osteotomy instruments, such as electric saws and osteotomes, are then used to cut the bone along the predetermined osteotomy line. After cutting, the bone segments are repositioned to the ideal position and fixed with internal fixation materials such as titanium plates and nails to ensure the bone heals in its new position. Finally, the incision is sutured to complete the operation. The oral and craniomaxillofacial skeleton is a complex three-dimensional structure. During surgery, the surgeon must precisely determine the location, angle, and depth of the osteotomy, as well as the direction and distance of bone movement and repositioning. This requires the surgeon to have good spatial imagination and precise operating skills. The surgeon must be able to accurately complete various operations within the limited surgical field of view and operating space to achieve precise reconstruction of the facial skeleton and restore normal facial morphology and occlusal function. To achieve the ideal surgical outcome, surgeons must perform numerous delicate operations. For example, when using micro-titanium plates and nails for bone fixation, they must accurately drill holes and insert screws to ensure stability and reliability. These delicate operations require the surgeon to maintain high concentration for extended periods, which can easily lead to fatigue and affect the accuracy and efficiency of the surgery.

[0003] Multi-degree-of-freedom serial or parallel robotic arms can achieve precise and flexible spatial motion and can realize the desired complex spatial operations through programming, remote operation, and human-machine collaboration. Therefore, robotic arms can effectively reduce the surgical difficulty of oral craniomaxillofacial osteotomy surgery, improve surgical precision, reduce surgical intensity, shorten the surgeon's learning curve, and achieve a uniform level of surgical quality. However, oral craniomaxillofacial osteotomy surgery requires a variety of surgical tools, which have the following technical drawbacks: how to achieve the rapid and precise installation and replacement of multiple surgical tools at the end of the robotic arm is a problem that must be solved; while solving the problem of rapid and precise installation and replacement, the vibration disturbance caused by electric surgical tools must also be considered, so the stability and reliability of the installation must also be addressed; robotic arms cannot be cleaned and sterilized, while surgical tools must remain sterile. Therefore, rapid and precise installation and replacement should not destroy the sterility of the surgical tools, and a sterile barrier should be constructed between the end of the robotic arm and the surgical tools.

[0004] Patent publication number CN218922776U discloses an end-instrument clamping device and an intraocular surgical robot, belonging to the field of surgical instrument technology. The end-instrument clamping device is used in an intraocular surgical robot and includes a mounting base and a clamping mechanism. The mounting base is mounted on the end-instrument clamping device of the intraocular surgical robot. The clamping mechanism is mounted on the mounting base and includes a clamping member. The clamping member is a tubular structure with a mounting channel for an actuator to pass through. The clamping member is used to clamp the actuator, which is used to perform intraocular surgery. The clamping mechanism also includes a positioning member, which is disposed on the clamping member and is used to securely position the actuator within the clamping member. The positioning member is a tubular structure with an inner wall having a tapered surface with a gradually decreasing diameter. As the positioning member moves axially along the clamping member, the tapered surface gradually shrinks, thereby gradually applying pressure to multiple clamping portions of the clamping end until the positioning member can no longer move axially, thereby achieving positioning and clamping of the actuator. This structure has the following technical defects during use: the structure of the synchronous belt and synchronous pulley is relatively large and complex, and cannot meet the technical requirements of rapid replacement and installation of multiple surgical tools and construction of a sterile barrier in oral craniomaxillofacial osteotomy surgery.

[0005] Therefore, how to design a dexterous device for quickly loading and unloading tools at the end of an oral craniomaxillofacial osteotomy robot, which can quickly and accurately install and replace multiple surgical tools at the end of a robotic arm when using a multi-degree-of-freedom motion platform such as a robotic arm to assist in oral craniomaxillofacial surgery, has become an urgent problem to be solved. Summary of the Invention

[0006] In response to the problems existing in the prior art, the present invention provides a smart device for quickly loading and unloading tools at the end of an oral craniomaxillofacial osteotomy robot to solve at least one of the above technical problems.

[0007] The technical solution of the present invention is: a dexterous device for quickly loading and unloading tools at the end of an oral craniomaxillofacial osteotomy robot, comprising a mounting base and an instrument clamp installed on a connecting base at the end of a robotic arm, wherein the mounting base comprises an electrical isolation adapter mounting plate, one end of the electrical isolation adapter mounting plate is fixed to the flange at the end of the robotic arm, and the other end is connected to a marker assembly through a clamping base, the marker assembly comprises a marker support rod, and a plurality of markers are provided on the marker support rod; the instrument clamp comprises an instrument fixing seat, one end of the instrument fixing seat fixes the instrument through an instrument pressure block, and the other end of the instrument fixing seat is connected in sequence to a handle, an instrument connector, and an instrument clamping seat; the instrument clamping seat of the instrument clamp cooperates with the clamping base of the mounting base to realize the rapid replacement and installation of the instrument fixed on the instrument clamp at the end of the robotic arm.

[0008] The present invention adopts an instrument pressing block to fix the instrument, and the mounting base is fixed to the end of the robotic arm. After the instrument is installed in the instrument clamp, it can be directly installed on the mounting base when in use, thereby realizing the rapid and accurate installation of various surgical tools at the end of the robotic arm. The installation is stable and reliable, and solves the vibration disturbance caused by electric surgical tools. After the instrument is installed in the instrument clamp, the instrument does not need to be removed from the instrument clamp except in special circumstances (replacing a new instrument after damage or loosening of the fastener, etc.). During cleaning and sterilization, the instrument and the instrument clamp are cleaned and sterilized together. It is a device for quickly and accurately installing and replacing various surgical tools at the end of the robotic arm, and at the same time, a stable and reliable sterile barrier is constructed between the surgical tools and the robotic arm.

[0009] Preferably, the electrical isolation adapter mounting plate is a cylinder, and an interface A is provided on one end surface of the cylinder, and the interface A includes a first countersunk hole, and the first countersunk hole cooperates with the positioning step of the robot arm end connection seat; the bottom surface of the first countersunk hole is connected to the robot arm end flange of the robot arm end connection seat through four first hexagon socket head bolts arranged in an array and a first positioning pin;

[0010] An interface B is provided on the other end face of the cylinder. Interface B includes several second screw holes evenly distributed around the circumference and symmetrically arranged second pin holes. Interface A and interface B are staggered, and the distance between them meets the equivalent air creepage distance.

[0011] The present invention adopts the cooperation of the first countersunk hole and the positioning step of the connecting seat at the end of the robot arm, and the connection of the first positioning pin and the robot arm end flange of the connecting seat at the end of the robot arm, so as to accurately position the electrical isolation adapter mounting plate relative to the multi-degree-of-freedom motion platform such as the robot arm; four array-arranged first hexagon socket cylindrical head bolts are used to fix the electrical isolation adapter mounting plate to the multi-degree-of-freedom motion platform such as the robot arm, thereby realizing the rapid and accurate installation of the electrical isolation adapter mounting plate at the end of the robot arm.

[0012] Preferably, the clamping base includes a clamping seat, which is a two-stage stepped sleeve. The large end of the stepped sleeve is a mounting flange, and the mounting flange is provided with an interface C and an interface D arranged in a staggered manner.

[0013] Interface C includes a plurality of second stepped holes evenly distributed around the circumference and symmetrically arranged third pin holes. The second stepped holes are connected to the second screw holes via second hexagon socket head bolts, and the third pin holes are connected to the second pin holes via second locating pins.

[0014] The interface D includes third screw holes and fourth pin holes arranged at intervals.

[0015] The present invention uses a second hexagonal cylindrical head bolt to connect the second stepped hole and the second screw hole to fix the electrical isolation adapter mounting plate and the clamping seat; uses a second positioning pin to connect the third pin hole and the second pin hole to accurately position the electrical isolation adapter mounting plate and the clamping seat relative to each other; and realizes the rapid and accurate installation of the clamping seat on the electrical isolation adapter mounting plate.

[0016] Preferably, the inner hole of the stepped shaft sleeve is a stepped hole, a bearing is provided in the small end of the stepped hole, a clamping and rotating locking seat is provided in the large end of the stepped hole, and a gap is left between the large end of the stepped hole and the clamping and rotating locking seat; the outer ring of the small end of the stepped shaft sleeve is provided with a waist-shaped groove, and the waist-shaped groove is also located at the large end of the stepped hole, and a clamping drive handle is provided in the waist-shaped groove, one end of the clamping drive handle is connected to the clamping and rotating locking seat, and the end face of the mounting flange away from the waist-shaped groove is the first sterile isolation membrane compression plane.

[0017] The present invention adopts a method of arranging a bearing in the small end of the stepped hole and a clamping and rotating locking seat in the large end of the stepped hole. The clamping and rotating locking seat is driven to rotate by a clamping driving handle to realize rapid installation or disassembly of the instrument clamp.

[0018] Preferably, the marker assembly is connected to the mounting flange via a marker adapter rod;

[0019] The marker adapter rod is a T-shaped structure, and an interface E is provided at the flange end of the T-shaped structure. The interface E is connected to the third screw hole through a third hexagon socket head bolt, and the interface E is connected to the fourth pin hole through a third positioning pin.

[0020] The web end of the T-shaped structure is provided with an interface F, which includes a positioning boss, a sixth pin hole outside the positioning boss, and a fifth screw hole at the center of the top surface of the positioning boss.

[0021] The present invention uses a third hexagon socket head bolt to fix the marker transfer rod and the clamping base; uses a third positioning pin to accurately position the marker transfer rod and the clamping base relative to each other; and realizes rapid and accurate installation of the transfer rod on the clamping base.

[0022] Preferably, the marker support rod is a cross-shaped structure, and an interface G is provided at the center of the cross-shaped structure. The interface G includes a first positioning groove, a seventh pin hole outside the first positioning groove, and a fourth stepped hole at the center of the other side of the bottom surface of the first positioning groove. The fourth stepped hole is used for the fourth hexagonal cylindrical head bolt to connect to the fifth screw hole; the positioning boss cooperates with the first positioning groove, and the seventh pin hole is used for the fourth positioning pin to connect to the sixth pin hole;

[0023] The four protruding ends of the cross-shaped structure are all provided with an interface H, which includes a sixth screw hole, and the sixth screw hole is provided with a first positioning hole coaxial with it. The marker mounting seat includes an interface I, and the interface I includes a first positioning column. A stud is provided at one end of the first positioning column, and the stud is connected to the sixth screw hole. The first positioning column is located in the first positioning hole, and the four markers are respectively installed at the other end of the first positioning column.

[0024] The present invention adopts a fourth inner hexagonal cylindrical head bolt to connect the fourth stepped hole and the fifth screw hole to fix the marker support rod and the marker adapter rod; adopts a positioning boss to cooperate with the first positioning groove, and a fourth positioning pin to connect the sixth pin hole and the seventh pin hole to accurately position the marker support rod and the marker adapter rod relative to each other; realizes the rapid and accurate installation of the marker support rod on the marker adapter rod; adopts a stud to connect the sixth screw hole to fix the marker mounting seat and the marker support rod; adopts a first positioning column to be located in the first positioning hole to accurately position the marker mounting seat and the marker support rod relative to each other; realizes the rapid and accurate installation of the marker mounting seat on the marker support rod.

[0025] Preferably, the instrument fixing seat is a cylindrical structure, and an interface J is provided at one end of the cylindrical structure. The interface J includes a third through hole, a second side groove, and an eighth screw hole on the bottom surface of the second side groove. The third through hole is located at the center of the cylindrical structure, and the second side groove is located on the outer cylindrical surface close to one end surface of the cylindrical structure.

[0026] An interface K is provided at the other end of the cylindrical structure, which includes a sixth stepped hole and several ninth screw holes arranged at 120° to each other on the circumference. The sixth stepped hole is located at the center of the other end face of the cylindrical structure. The sixth stepped hole is coaxial with the third through hole. The small end of the sixth stepped hole is connected to the third through hole, and the ninth screw hole is located at the large end of the stepped hole of the sixth stepped hole.

[0027] Preferably, the device connector is a three-stage stepped hollow tube, the middle of the hollow tube is the large end, and the two ends of the hollow tube are small ends, and the two small ends are respectively the interface L and the interface M;

[0028] The interface L includes a first stepped cylinder and a plurality of second positioning holes evenly distributed on the outer cylindrical surface of the first stepped cylinder. The first stepped cylinder is coaxial with the third through hole. The first stepped cylinder is used for circumferential positioning with the instrument fixing seat. The second positioning holes are used for connecting the first cylinder set screw to the ninth screw hole.

[0029] The interface M includes a second stepped cylinder and several third positioning holes evenly distributed on the outer cylindrical surface of the second stepped cylinder. The second stepped cylinder is coaxial with the third through hole. The circumferential surface of the large end of the hollow circular tube is opened with 4 rows and 2 columns of equal long grooves at 90 degrees to each other. The long grooves include a narrow long groove parallel to the center plane of the saw blade of the electric saw at the instrument base, and a wide long groove close to the connection side of the instrument clamping seat.

[0030] The present invention adopts a first stepped cylinder to accurately position the instrument connector and the instrument fixing seat relative to each other; adopts a first cylindrical set screw to connect the second positioning hole and the ninth screw hole to fix the instrument connector and the instrument fixing seat; and realizes rapid and accurate installation of the instrument connector on the instrument fixing seat.

[0031] Preferably, the instrument holding seat is a multi-section stepped shaft, the large end of the stepped shaft is located in the middle, and a second sterile isolation membrane pressing plane is provided on one side of the large end of the stepped shaft; a second triangular mark is provided on the outer ring of the second sterile isolation membrane pressing plane;

[0032] A cylindrical section and a transition cylindrical section are sequentially provided on the compression plane of the second sterile isolation membrane toward the side away from the large end. The outer ring of the cylindrical section is provided with two fool-proof bosses of different sizes, which are used in conjunction with the fool-proof groove. The outer ring of the end surface of the transition cylindrical section away from the cylindrical section is provided with two second annular bosses at 180° to each other. The outer edge of the second annular boss is provided with a spiral convex groove, and the center plane of the second annular boss coincides with the center plane of the rectangular groove of the clamping rotary locking seat;

[0033] A cylindrical tube is provided on the other side of the large end of the stepped shaft, and an interface N is provided on the cylindrical tube. The interface N includes an eighth stepped hole and several tenth screw holes evenly distributed on the outer cylindrical surface of the eighth stepped hole. The tenth screw hole is used for the second cylindrical set screw to connect the third positioning hole. A fourth through hole is provided on one side of the large end of the stepped shaft, and a third side groove is provided in the circumferential axial direction of the fourth through hole. The instrument power cord and control line pass through the third side groove and do not enter the sterile barrier.

[0034] The present invention adopts a second stepped cylinder to accurately position the instrument connector and the instrument clamping seat relative to each other; adopts a second cylindrical set screw to connect the third positioning hole and the tenth screw hole to fix the instrument connector and the instrument clamping seat; realizes the rapid and precise installation of the instrument connector on the instrument clamping seat; adopts the instrument power cord and control line to pass through the third side groove without entering the sterile barrier, realizes the rapid and precise installation and replacement without destroying the sterility of the surgical tools, and constructs a sterile barrier between the end of the robotic arm and the surgical tools.

[0035] Another technical solution of the present invention is: a tool for installing an end tool of an oral craniomaxillofacial osteotomy robot, comprising a tool assembly, the tool assembly being capable of fixing an instrument fixing seat, wherein the outer cylindrical surface of the instrument fixing seat is provided with mutually parallel surfaces, the two parallel surfaces corresponding to a first parallel surface and a second parallel surface, respectively; the tool assembly is composed of a tool base and a tool pressure block; after the instrument fixing seat is installed on the tool base and positioned, the tool pressure block is locked to the tool base by a fifth hexagon socket head bolt and a fifth positioning pin;

[0036] The tooling base is a rectangular block, and the center of the top surface of the rectangular block is provided with a clearance groove, a second positioning groove, a handle groove, a mounting groove, and an avoidance groove in sequence from one side to the other; wherein the groove width between the clearance groove and the avoidance groove gradually increases; the second parallel surface is in contact with the bottom surface of the mounting groove;

[0037] The top surface of the rectangular block is provided with an interface O, which includes seventh screw holes located at the four corner points of the rectangle and eighth pin holes arranged at intervals;

[0038] The tool pressing block includes a first semi-ring, a first plane is provided in the middle of the inner ring surface of the first semi-ring, the first plane cooperates with the first parallel surface, and a first side groove is provided on the outer ring surface of the first semi-ring, the first side groove is used to install the instrument pressing block;

[0039] Both ends of the first semi-ring are provided with flanges, and each flange is provided with a fifth stepped hole arranged at intervals and a ninth pin hole located between the two fifth stepped holes. The fifth stepped hole is used for the fifth hexagonal cylindrical head bolt to connect to the seventh screw hole, and the ninth pin hole is used for the fifth locating pin to connect to the eighth pin hole.

[0040] The present invention adopts the method of matching the first plane of the tooling pressure block with the first parallel surface, and the second parallel surface with the bottom surface of the installation groove. After the instrument fixing seat is installed on the tooling base for positioning, the fifth hexagonal cylindrical head bolt is connected to the fifth stepped hole and the seventh screw hole to fix the tooling pressure block to the tooling base; the fifth locating pin is used to connect the eighth pin hole and the ninth pin hole to accurately position the tooling pressure block relative to the tooling base; the tooling assembly is used to accurately install the instrument into the instrument fixture, that is, the user does not need to calibrate the position of the instrument end relative to the robotic arm during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is an exploded view of the mounting base and the instrument fixture mounting structure of the present invention.

[0042] Figure 2 This is an exploded view of the mounting base of the present invention.

[0043] Figure 3 This is an exploded view of the clamping base of the present invention.

[0044] Figure 4 It is an exploded view of the installation structure of the marker assembly and the marker adapter rod of the present invention.

[0045] Figure 5 It is a schematic diagram of the installation structure of the tooling base and the tooling pressing block of the present invention.

[0046] Figure 6 This is an exploded view of the instrument fixture of the present invention.

[0047] Figure 7 This is a three-dimensional front view of the electrical isolation adapter mounting plate of the present invention.

[0048] Figure 8 This is a three-dimensional rear view of the electrical isolation adapter mounting plate of the present invention.

[0049] Figure 9 This is a three-dimensional front view of the clamping seat of the present invention.

[0050] Figure 10 This is a three-dimensional rear view of the clamping seat of the present invention.

[0051] Figure 11 This is a three-dimensional front view of the clamping and rotating locking seat of the present invention.

[0052] Figure 12 This is a three-dimensional rear view of the clamping and rotating locking seat of the present invention.

[0053] Figure 13 This is a three-dimensional diagram of the marker adapter rod of the present invention.

[0054] Figure 14 This is a three-dimensional front view of the marker support rod of the present invention.

[0055] Figure 15 This is a three-dimensional rear view of the marker support rod of the present invention.

[0056] Figure 16 This is a three-dimensional diagram of the marker mounting base of the present invention.

[0057] Figure 17 It is a three-dimensional diagram of the tooling base of the present invention.

[0058] Figure 18 It is a three-dimensional diagram of the tooling briquetting of the present invention.

[0059] Figure 19 This is a three-dimensional left view of the instrument fixing seat of the present invention.

[0060] Figure 20 It is a three-dimensional diagram of the right side view of the instrument fixing seat of the present invention.

[0061] Figure 21 It is a three-dimensional diagram of the instrument briquette of the present invention.

[0062] Figure 22 It is a three-dimensional diagram of the instrument connector of the present invention.

[0063] Figure 23 This is a three-dimensional left view of the instrument clamping seat of the present invention.

[0064] Figure 24 It is a three-dimensional diagram of the instrument clamping seat from the right side of the present invention.

[0065] Figure 25 It is a top view of the installation structure of the present invention.

[0066] Figure 26 This is a schematic diagram of the structure in which the rectangular groove of the present invention forms a 90° angle with the center plane of the clamping drive handle.

[0067] Figure 27 It is a schematic diagram of the alignment structure of the first triangle mark and the second triangle mark of the present invention.

[0068] Figure 28 This is a schematic diagram of the structure in which the spiral convex groove and the spiral concave groove are at 90 degrees to each other.

[0069] Figure 29 This is a structural schematic diagram of the identification switch and the clamping drive handle of the instrument clamp of the present invention installed on the mounting base.

[0070] In the figure: 1. Mounting base; 2. Instrument fixture; 3. Robot arm end connection base; 4. Electrical isolation adapter mounting plate; 5. Clamping base; 6. Marker assembly; 7. Clamping base; 8. Clamping drive handle; 9. Bearing; 10. Clamping rotation locking base; 11. Marker adapter rod; 12. Marker support rod; 13. Marker mounting base; 14. Marker; 15. Tooling base; 16. Tooling pressure block; 17. Handle; 18. Instrument fixing base; 19. Instrument pressure block; 20. Instrument connector; 21. Instrument clamping base; 22. Alignment mark; 401. First countersunk hole; 402. U-shaped positioning groove; 403. Second pin hole; 404. First stepped hole ; 405. Second screw hole; 701. Second stepped hole; 702. Waist-shaped groove; 703. Marking open; 704. Third pin hole; 705. Third screw hole; 706. Fourth pin hole; 707. First through hole; 708. Anti-fool groove; 709. First triangular mark; 710. Marking closed; 711. First sterile isolation membrane pressing plane; 1001. Cylindrical step; 1002. Fourth screw hole; 1003. Rectangular groove; 1004. Spiral groove; 1101. Third stepped hole; 1102. Fifth pin hole; 1103. Sixth pin hole; 1104. Fifth screw hole; 1105. Positioning boss; 1201. First positioning groove; 1202. Seventh pin hole ; 1203. Fourth stepped hole; 1204. Sixth screw hole; 1205. First positioning hole; 1301. Threaded column; 1302. First positioning column; 1303. Second positioning column; 1501. Mounting slot; 1502. Seventh screw hole; 1503. Eighth pin hole; 1504. Handle slot; 1505. End surface; 1506. Giving way slot; 1507. Second positioning slot; 1601. First semi-circular shape; 1602. First plane; 1603. Fifth stepped hole; 1604. Ninth pin hole; 1605. First side groove; 1801. Third through hole; 1802. Second side groove; 1803. Eighth screw hole; 1804. Ninth screw hole; 180 4. Ninth screw hole; 1805. First parallel surface; 1806. Second parallel surface; 1807. Sixth stepped hole; 1901. Seventh stepped hole; 2001. First step cylinder; 2002. Second positioning hole; 2003. Third positioning hole; 2004. Second step cylinder; 2005. Narrow long groove; 2006. Wide long groove; 2101. Second sterile isolation membrane pressing plane; 2102. Cylindrical section; 2103. Anti-fouling boss; 2104. Transition cylindrical section; 2105. Spiral convex groove; 2106. Third side groove; 2107. Fourth through hole; 2108. Eighth stepped hole; 2109. Tenth screw hole; 2110. Second triangle mark. DETAILED DESCRIPTION

[0071] The present invention will be further described below with reference to the accompanying drawings.

[0072] See Figure 1-29 The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0073] Example 1: A smart device for quickly assembling and disassembling tools at the end of an oral craniomaxillofacial osteotomy robot, referring to Figure 1 、 Figure 2 The present invention consists of a mounting base 1 and an instrument fixture 2. The mounting base 1 consists of an electrical isolation adapter mounting plate 4, a clamping base 5 and a marker assembly 6. The clamping base 5 is mounted on the electrical isolation adapter mounting plate 4, and the marker assembly 6 is mounted on the clamping base 5.

[0074] Example 2: Based on Example 1, refer to Figure 7 、 Figure 8The electrical isolation adapter mounting plate 4 is made of a material with high resistance and high mechanical strength, such as POM, PEEK, PLA, etc.; it has a mechanical interface (interface A) for installation with a multi-degree-of-freedom motion platform such as a robotic arm, and a mechanical interface (interface B) for installation with a clamping base 5. Interface A includes four first stepped holes 404, one first countersunk hole 401 and one U-shaped positioning groove 402. The first countersunk hole 401 cooperates with the positioning step of the robot arm end connecting seat 3; the four first stepped holes 404 are arranged in an array on the bottom surface of the first countersunk hole 401, and are used for first hexagon socket cylindrical head bolts and other fasteners to fix the electrical isolation adapter mounting plate 4 to the robot arm end flange of the robot arm end connecting seat 3. The U-shaped positioning groove 402 is located on the bottom surface of the first countersunk hole 401. The U-shaped positioning groove 402 is used for the first positioning pin to accurately position the electrical isolation adapter mounting plate 4 relative to the robot arm end flange of the robot arm end connecting seat 3; Interface B includes two symmetrically arranged second pin holes 403 and four second screw holes 405 evenly distributed around the circumference. The second screw hole 405 is used for the second hexagon socket cylindrical head bolt to fix the electrical isolation adapter mounting plate 4 to the clamping base 5. The second pin hole 403 is used for the second positioning pin to accurately position the electrical isolation adapter mounting plate 4 relative to the clamping base 5. Interface A and interface B are staggered and arranged on the electrical isolation adapter mounting plate 4, and the distance between the two meets the equivalent air creepage distance; the hole depth of interface A meets the requirements of fasteners such as bolts and positioning parts such as locating pins. After installation, the distance between its end face and the clamping base 5 is greater than the equivalent air creepage distance, and the distance between interface A and interface B is greater than or equal to 5mm.

[0075] Example 3: Based on Example 2, refer to Figure 3 The clamping base 5 is composed of a clamping seat 7, a clamping assembly, and a clamping drive handle 8. The clamping assembly is located in the clamping seat 7, and the clamping drive handle 8 passes through the clamping seat 7 and is connected to the clamping assembly.

[0076] Example 4: Based on Example 3, refer to Figure 9 、 Figure 10The clamping seat 7 is a two-section stepped sleeve. The large end of the stepped sleeve is a mounting flange. The mounting flange is used to install the marker assembly 6. The mounting flange is provided with a mechanical interface (interface C) for installation with the electrical isolation adapter mounting plate 4, and the mounting flange is also provided with a mechanical interface (interface D) for installation with the mounting marker assembly. Interface C includes four second stepped holes 701 evenly distributed around the circumference and symmetrically arranged third pin holes 704. The second stepped holes 701 are used to connect the second hexagonal cylindrical head bolts with the second screw holes 405 to fix the electrical isolation adapter mounting plate 4 to the clamping seat 7; the third pin hole 704 is used to connect the second positioning pin with the second pin hole 403 to accurately position the electrical isolation adapter mounting plate 4 relative to the clamping seat 7; the outer ring of the small end of the stepped sleeve is provided with a waist-shaped groove 702, which is close to the mounting flange and is a clamping drive hole or a clamping drive groove; the waist-shaped groove 702 is used to clamp the drive handle 8 through the clamping seat 7 and connect it to the clamping assembly, and status marks are respectively provided at both ends of the waist-shaped groove 702, and the two status marks are: mark on 703 and mark off 710. The application of the status mark can facilitate the doctor to confirm the loading and unloading status of the instrument clamp 2; the clamping drive handle 8 can be adjusted to the position of mark on 703 or mark off 710 along the waist-shaped groove. There is an installation alignment indicator mark on the clamping seat 7, and the installation alignment indicator mark is a first triangular mark 709; one side end face of the clamping seat 7 is a first sterile isolation membrane pressing plane 711; a first through hole 707 is opened in the center of the other side end face of the clamping seat 7 for the instrument clamp 2 to be inserted into the mounting base 1 and cooperate with the clamping assembly; the edge of the first through hole 707 is provided with an installation anti-fool structure, and the installation anti-fool structure adopts a hole, or a groove, or a hole-slot combination, or a hole-pin combination, or a groove-boss combination, etc. The hole, or groove, or pin, or boss is single or multiple, and the installation anti-fool structure includes two anti-fool grooves 708 of different sizes. The clamping base 7 is provided with two continuous stepped holes. The large ends of the stepped holes abut the first sterile barrier membrane pressing surface 711, while the small ends of the stepped holes abut and are coaxial with the large ends. The small ends of the stepped holes are used to secure the outer ring of the bearing 9. A first through-hole 707 is located on the side of the small end of the stepped hole, away from the large end. A gap is left between the large ends of the stepped holes and the outer ring of the clamping rotary locking base 10 to ensure circumferential rotation of the clamping rotary locking base 10. Interface D includes spaced third screw holes 705 and spaced fourth pin holes 706. The third screw holes 705 are used for fasteners such as third hexagon socket head bolts to secure the marker assembly 6 to the clamping base 7. The fourth pin holes 706 are used for positioning members such as third locating pins to precisely position the marker assembly 6 relative to the clamping base 7. Interfaces C and D are arranged offset on the mounting flange.

[0077] Example 5: Based on Example 4, refer to Figure 3The clamping assembly consists of a clamping rotary locking seat 10 and a bearing 9. The inner ring of the bearing 9 is mounted on the clamping rotary locking seat 10, the outer ring of the bearing 9 is mounted on the small end of the stepped hole in the clamping seat 7, and the outer ring of the clamping rotary locking seat 10 with the bearing 9 is mounted on the large end of the stepped hole in the clamping seat 7.

[0078] Example 6: Based on Example 5, refer to Figure 11 、 Figure 12 A cylindrical step 1001 is provided on one end face of the clamping and rotating locking seat 10. The cylindrical step 1001 is mounted on the inner ring of the bearing 9 and precisely positioned. The cylindrical surface of the outer ring of the clamping and rotating locking seat 10 is coaxial with the cylindrical step 1001 and is used to clearance-mate with the large end of the stepped hole of the clamping seat 7, allowing the clamping and rotating locking seat 10 to rotate circumferentially within the clamping seat 7. A fourth screw hole 1002 is provided on the cylindrical surface of the clamping and rotating locking seat 10 for clamping the driving handle 8 through the waist-shaped groove 702 to connect with the clamping assembly. A second through hole coaxial with the clamping and rotating locking seat 10 is opened at the center of the cylindrical step 1001, for the instrument clamp 2 to be inserted into the mounting base 1 and cooperate with the clamping assembly; the outer ring edge of the second through hole has rectangular grooves 1003 at 180° to each other, for the spiral convex groove 2105 on the annular boss of the instrument clamping seat 21 to pass through; two sections of first annular bosses at 180° to each other are provided on the other side end face of the clamping and rotating locking seat 10, and a spiral groove 1004 is provided on the inner edge of the circular ring. The spiral groove 1004 and the rectangular groove 1003 are at 90° to each other, so that after the instrument clamp 2 is inserted into the mounting base 1 from the rectangular groove 1003 of the clamping and rotating locking seat 10, the clamping and rotating locking seat 10 rotates 90°, and the spiral groove 1004 on the clamping and rotating locking seat 10 locks the spiral convex groove 2105 on the instrument clamping seat 21.

[0079] Example 7: Based on Example 6, refer to Figure 3 Bearing 9 can be any of a rolling bearing, an angular contact bearing, or a thrust ball bearing. Bearing 9 utilizes a one-way thrust ball bearing. The outer ring of its tightening ring is mounted within the small end of the stepped hole in the clamping base 7, while the inner ring of its loose ring is mounted on the cylindrical step 1001 of the clamping and rotating locking base 10. The rotating element is positioned within the rotating groove between the tightening and loose rings. The inner bore of the one-way thrust ball bearing allows the instrument fixture 2 to be inserted into the mounting base 1 and engage with the clamping assembly.

[0080] Example 8: Based on Example 7, refer to Figure 4 The marker assembly 6 is composed of a marker transfer rod 11, a marker support rod 12, a marker mounting seat 13, and a marker 14. The marker mounting seat 13 is mounted on the marker support rod 12, the marker support rod 12 is mounted on the marker transfer rod 11, and the marker 14 is mounted on the marker mounting seat 13.

[0081] Example 9: Based on Example 8, refer to Figure 13 The marker adapter rod 11 is a T-shaped structure, and a mechanical interface (interface E) is provided at the flange end of the T-shaped structure. The interface E includes third stepped holes 1101 arranged at intervals and fifth pin holes 1102 arranged at intervals. The third stepped hole 1101 is used for the third hexagonal cylindrical head bolt to connect the third screw hole 705 to fix the marker assembly 6 on the clamping base 5; the fifth pin hole 1102 is used for the third positioning pin to connect the fourth pin hole 706 to accurately position the marker assembly 6 and the clamping base 5. A mechanical interface (interface F) is provided at the web end of the T-shaped structure. Interface F includes a positioning boss 1105, a sixth pin hole 1103 on the outside of the positioning boss 1105, and a fifth screw hole 1104 at the center of the top surface of the positioning boss 1105. The fifth screw hole 1104 is used for a fourth hexagon socket head bolt or other fastener to fix the marker support rod 12 to the marker adapter rod 11. The sixth pin hole 1103 and the positioning boss 1105 are used for a fourth positioning pin or other positioning part to cooperate with the positioning boss 1105 to accurately position the marker support rod 12 and the marker adapter rod 11.

[0082] Example 10: Based on Example 9, refer to Figure 14 、 Figure 15 The marker support rod 12 is a cross block structure, and a mechanical interface (interface G) is provided in the center of the cross block structure. The interface G includes a first positioning groove 1201, a seventh pin hole 1202 outside the first positioning groove 1201, and a fourth stepped hole 1203 in the center of the other side of the bottom surface of the first positioning groove 1201. The fourth stepped hole 1203 is used for the fourth hexagonal cylindrical head bolt to connect the fifth screw hole 1104 to fix the marker support rod 12 on the marker adapter rod 11; the positioning boss 1105 cooperates with the first positioning groove 1201, and the seventh pin hole 1202 is used for the fourth positioning pin to connect the sixth pin hole 1103 to accurately position the marker support rod 12 and the marker adapter rod 11. Mechanical interfaces (interfaces H) are provided on the four protruding ends of the cross block structure. Interface H includes a sixth screw hole 1204 and a first positioning hole 1205 coaxial with the sixth screw hole 1204. The inner diameter of the first positioning hole 1205 is larger than the large diameter of the sixth screw hole 1204. The sixth screw hole 1204 is used to fix the marker mounting seat 13 on the marker support rod 12, and the first positioning hole 1205 is used to accurately position the marker mounting seat 13.

[0083] Example 11: Based on Example 10, refer to Figure 16The mechanical interface (interface I) for mounting the marker mount 13 on the marker support rod 12 includes a first positioning post 1302, a stud 1301 disposed at each end of the first positioning post 1302, and a second positioning post 1303. The stud 1301 connects to the sixth screw hole 1204, locking the marker mount 13 to the marker support rod 12. One end of the first positioning post 1302 engages with the first positioning hole 1205, precisely positioning the marker mount 13 with the positioning hole of the marker support rod 12. The marker mount 13 has no fewer than three interfaces I. When there are four marker mounts 13, the distances between any two adjacent marker mounts 13 are not equal.

[0084] Example 12: Based on Example 11, refer to Figure 14 The marker 14 is an object that can be identified by an optical positioning device or an electromagnetic positioning device, such as a passive infrared light reflective ball, an active infrared light emitter, an electromagnetic coil, a black and white grid color plate, etc. The marker 14 uses a passive infrared reflective ball and is installed at one end of the second positioning column 1303.

[0085] Example 13: Based on Example 12, refer to Figure 6 The instrument fixture 2 is composed of an instrument fixing seat 18, an instrument pressing block 19, an instrument connector 20, and an instrument clamping seat 21. The instrument fixing seat 18 is installed at one end of the instrument handle 17, and the instrument pressing block 19 is connected to the instrument fixing seat 18. One end of the instrument connector 20 is connected to the instrument fixing seat 18, and the other end is connected to the instrument clamping seat 21. The instrument fixing seat 18 and the instrument pressing block 19 need to be assembled with tooling components, and then assembled with the instrument connector 20. The present invention uses an instrument pressing block to fix the instrument, and the mounting base is fixed to the end of the robotic arm. After the instrument is installed in the instrument fixture, it can be directly installed on the mounting base when in use, realizing the rapid and accurate installation of various surgical tools at the end of the robotic arm. The installation is stable and reliable, and the vibration disturbance caused by electric surgical tools is solved. After the instrument is installed in the instrument fixture, the instrument does not need to be removed from the instrument fixture unless there are special circumstances (such as replacing a new instrument after the instrument is damaged or the fastening is loose). During cleaning and sterilization, the instrument and the instrument fixture are cleaned and sterilized together.

[0086] Example 14: Based on Example 13, refer to Figure 19 、 Figure 20The instrument fixing seat 18 is a cylindrical structure, and a mechanical interface (interface J) for installation with the instrument handle 17 is provided on one end of the cylindrical structure. The interface J includes a third through hole 1801, a second side groove 1802, and an eighth screw hole 1803 on the bottom surface of the second side groove 1802. The third through hole 1801 is located in the center of the cylindrical structure and is used for the instrument handle 17 to pass through the middle. The second side groove 1802 is located on the outer cylindrical surface close to the end surface of one side of the cylindrical structure and is used to install the instrument pressing block 19. The eighth screw hole 1803 is used for a sixth hexagon socket head bolt and other fasteners to press the instrument pressing block 19 against the instrument handle 17 and fix the instrument handle 17 to the instrument fixing seat 18. The other end of the cylindrical structure is provided with a mechanical interface (interface K) for installation with the instrument connector 20. The interface K includes a sixth stepped hole 1807 and three ninth screw holes 1804 arranged at 120° to each other on the circumference. The sixth stepped hole 1807 is located at the center of the end face of the other side of the cylindrical structure. The sixth stepped hole 1807 is coaxial with the third through hole 1801 of the interface J. The small end of the sixth stepped hole 1807 is communicated with the third through hole 1801 and is used for circumferential positioning with the instrument connector 20. The ninth screw hole 1804 is located on the outer cylindrical surface close to the end face of the other side of the cylindrical structure. The ninth screw hole 1804 is located at the large end of the stepped hole of the sixth stepped hole 1807; the center of one of the ninth screw holes 1804 is on the center plane of the saw blade of the electric saw. The ninth screw hole 1804 is used for the first cylindrical set screw to accurately position and fix the instrument fixing seat 18 and the instrument connector 20.

[0087] Example 15: Based on Example 14, refer to Figure 21 The instrument pressing block 19 is a second semi-ring, the inner ring of the second semi-ring is used to stick to the instrument handle 17, and the outer ring of the second semi-ring is provided with seventh stepped holes 1901 at both ends. The seventh stepped hole 1901 is used for the sixth hexagonal cylindrical head bolt to connect the eighth screw hole 1803 to lock the instrument pressing block 19 on the instrument fixing seat 18.

[0088] Example 16: Based on Example 15, refer to Figure 22The instrument connector 20 is a three-stage stepped hollow tube. The inner hole of the hollow tube is used to pass through the instrument handle 17 and the instrument's power and control cables. The middle of the hollow tube is the large end, and the two ends of the hollow tube are the small ends. The two small ends respectively serve as the mechanical interface (interface L) for connecting to the instrument holder 18 and the mechanical interface (interface M) for connecting to the instrument clamping base 21. The interface L includes a first step cylinder 2001 and several second positioning holes 2002 evenly distributed on the outer cylindrical surface of the first step cylinder 2001. The first step cylinder 2001 is coaxial with the third through hole 1801 of the interface J; the three second positioning holes 2002 are arranged corresponding to the three ninth screw holes 1804 of the instrument fixing seat 18, and the center of one of the second positioning holes 2002 is on the center surface of the saw blade of the electric saw; the first step cylinder 2001 is used for circumferential positioning with the instrument fixing seat 18, and the second positioning hole 2002 is used for the first cylindrical set screw to connect to the ninth screw hole 1804, so as to accurately position and fix the instrument fixing seat 18 and the instrument connector 20. Interface M includes a second step cylinder 2004 and several third positioning holes 2003 evenly distributed on the outer cylindrical surface of the second step cylinder 2004. The second step cylinder 2004 is coaxial with the third through hole 1801 of the interface J. The four third positioning holes 2003 are arranged at 90° to each other on the circumference of the second step cylinder 2004, and the center of one third positioning hole 2003 is on the center surface of the saw blade of the electric saw. The second step cylinder 2004 is used for circumferential positioning with the instrument clamping seat 21, and the third positioning hole 2003 is used for the second cylindrical set screw to accurately position and fix the instrument clamping seat 21 and the instrument connector 20. The circumferential surface of the large end of the hollow circular tube is provided with 4 rows and 2 columns of equal long grooves at 90 degrees to each other. Among them, the narrow long groove 2005 is parallel to the center plane of the saw blade of the electric saw at the instrument base. All the long grooves are used for cleaning and sterilizing the instrument. The narrow long groove 2005 near the connection side of the instrument clamping seat 21 can be used for observing the first triangular mark 709 when the instrument power cord and control line are docked with the instrument handle 17. The wide long groove 2006 near the connection side of the instrument clamping seat 21 is used for plugging and unplugging the instrument power cord and control line by hand through the wide long groove 2006 when the instrument power cord and control line are docked with the instrument handle 17.

[0089] Example 17: Based on Example 16, refer to Figure 23 、 Figure 24The instrument clamping seat 21 is a multi-section stepped shaft with the large end located in the middle. A second sterile barrier membrane pressing surface 2101 is provided on one side of the large end. The outer ring of the second sterile barrier membrane pressing surface 2101 is provided with an installation alignment indicator, a second triangular mark 2110, which is perpendicular to the center plane of the electric saw blade. A cylindrical section 2102 and a transition cylindrical section 2104 are sequentially provided on the second sterile barrier membrane pressing surface 2101, away from the large end. The cylindrical section 2102 cooperates with the first through-hole 707 of the clamping seat 7 for center alignment. The outer ring of the cylindrical section 2102 is provided with two anti-mock bosses 2103 of different sizes. These bosses 2103 cooperate with the anti-mock groove 708 of the clamping seat 7 for circumferential fixation. The outer ring of the end face of the transition cylindrical section 2104 away from the cylindrical section 2102 is provided with two second annular bosses at 180° to each other, and the outer edge of the second annular boss is provided with a spiral convex groove 2105. The center plane of the second annular boss coincides with the center plane of the rectangular groove 1003 of the clamping rotary locking seat 10. After the instrument clamp 2 is inserted into the mounting base 1 from the rectangular groove 1003 of the clamping rotary locking seat 10, the clamping rotary locking seat 10 rotates 90°, and the spiral groove 1004 on the clamping rotary locking seat 10 locks the spiral convex groove 2105 on the instrument clamping seat 21. A cylindrical tube is provided on the other side of the large end of the stepped shaft. This tube is equipped with a mechanical interface (Interface N) for mounting the instrument connector 20. Interface N includes an eighth stepped hole 2108 and several tenth screw holes 2109 evenly distributed on the outer cylindrical surface of the eighth stepped hole 2108. The center of the eighth stepped hole 2108 is used to adjust the reference center of different osteotomy instruments to coincide with the center of the robotic arm end connector 3. The four tenth screw holes 2109 are circumferentially oriented at 90° to each other, with one of the tenth screw holes 2109 centered on the center plane of the electric saw blade. The tenth screw hole 2109 is used to connect the second cylindrical set screw to the third positioning hole 2003, precisely positioning and securing the instrument clamp 21 to the instrument connector 20. A fourth through hole 2107, coaxial with the eighth stepped hole 2108, is provided on one side of the large end of the stepped shaft for passing the instrument power and control cables. An open slot is provided axially around the circumference of the fourth through hole 2107, and the open slot is the third side slot 2106. The instrument power cord and control line pass through the third side slot 2106 and do not enter the sterile barrier. The present invention uses an instrument pressing block to fix the instrument, and the mounting base is fixed to the end of the robotic arm. After the instrument is installed in the instrument fixture, it can be directly installed on the mounting base when in use. This enables the rapid and precise installation of various surgical tools at the end of the robotic arm, and the installation is stable and reliable, eliminating the vibration disturbance caused by electric surgical tools. After the instrument is installed in the instrument fixture, the instrument does not need to be removed from the instrument fixture except in special circumstances (such as replacing a new instrument after damage or loosening of the fastener). During cleaning and sterilization, the instrument and the instrument fixture are cleaned and sterilized together.

[0090] Example 18: A tool for installing an end tool of an oral craniomaxillofacial osteotomy robot, referring to Figure 5 、 Figure 19 、 Figure 20 , including a tooling assembly, which can fix the instrument fixing seat 18, and the tooling assembly is composed of a tooling base 15 and a tooling pressure block 16; parallel surfaces parallel to each other are provided on the outer cylindrical surface of the instrument fixing seat 18, and the two parallel surfaces are perpendicular to the center surface of the saw blade of the electric saw, and the two parallel surfaces correspond to the first parallel surface 1805 and the second parallel surface 1806 respectively. After the instrument fixing seat 18 is installed on the tooling base 15 and positioned, the tooling pressure block 16 is locked on the tooling base 15 by the fifth hexagonal cylindrical head bolt and the fifth positioning pin.

[0091] Example 19: Based on Example 18, refer to Figure 17 The tool base 15 is a rectangular block, and the center of the top surface of the rectangular block is provided with a clearance groove 1506, a handle groove 1504, a mounting groove 1501, and an avoidance groove in sequence from one side to the other; the width of the groove between the clearance groove 1506 and the avoidance groove gradually increases; the bottom and side surfaces of the mounting groove 1501 are used for positioning the instrument fixing seat 18, and the top surface of the rectangular block is provided with a mechanical interface (interface O) for installation with the tooling pressure block 16, and the interface O includes four seventh screw holes 1502 and eighth pin holes 150 arranged at intervals. 3. Four seventh screw holes 1502 are located at the four corners of the rectangle. Two seventh screw holes 1502 and one eighth pin hole 1503 are provided on either side of the mounting slot 1501, with the eighth pin hole 1503 located between the two seventh screw holes 1502. The seventh screw holes 1502 are used for fasteners such as fifth hexagon socket head bolts to secure the tooling block 16 to the tooling base 15. The eighth pin hole 1503 is used for positioning members such as fifth locating pins to precisely position the tooling block 16 relative to the tooling base 15. The handle slot 1504 allows the instrument handle 17 to pass through the instrument fixing seat 18. The end surface 1505 between the handle slot 1504 and the clearance slot 1506 is used for axial positioning of the instrument handle 17. The clearance slot 1506 is used to allow the clamping head at the end of the handle 17 to move out of position. A second positioning groove 1507 is provided between the handle groove 1504 and the clearance groove 1506 for positioning the saw teeth of the reciprocating electric saw. The width of the second positioning groove 1507 is smaller than that of the handle groove 1504 and larger than that of the clearance groove 1506.

[0092] Example 20: Based on Example 19, refer to Figure 18The tooling pressure block 16 comprises a first semi-annular shape 1601. A first flat surface 1602 is provided in the middle of the inner annular surface of the first semi-annular shape 1601. The first flat surface 1602 mates with the first parallel surface of the instrument holder 21 and is used to position the two first parallel surfaces of the instrument holder 21 on the tooling base 15. Flanged flanges are provided at both ends of the first semi-annular shape 1601. Each flange has a spaced-apart fifth stepped hole 1603 and a ninth pin hole 1604 located between the two fifth stepped holes 1603. The fifth stepped hole 1603 is used for connecting a fifth hexagon socket head bolt to the seventh screw hole 1502, thereby locking the tooling pressure block 16 to the tooling base 15. The ninth pin hole 1604 is used for connecting a fifth locating pin to the eighth pin hole 1503, thereby precisely positioning the tooling pressure block 16 relative to the tooling base 15. A first side groove 1605 is provided on the outer annular surface of the first semi-annular shape 1601 for mounting the instrument pressure block 19. After positioning the instrument holder 18 on the tool base 15, the tool pressing block 16 is secured to the tool base 15 via the fifth hexagon socket head bolt and the fifth locating pin. The second parallel surface 1806 mates with the bottom surface of the mounting slot 1501 of the tool base 15, securing the instrument holder 18. The first parallel surfaces 1805, located on either side of the opening of the second side slot 1802, mate with the flat surface of the tool pressing block 16, securing the instrument holder 18. The present invention adopts the method of matching the first plane of the tooling pressure block with the first parallel surface, and the second parallel surface with the bottom surface of the installation groove. After the instrument fixing seat is installed on the tooling base for positioning, the fifth hexagonal cylindrical head bolt is connected to the fifth stepped hole and the seventh screw hole to fix the tooling pressure block to the tooling base; the fifth locating pin is used to connect the eighth pin hole and the ninth pin hole to accurately position the tooling pressure block relative to the tooling base; the tooling assembly is used to accurately install the instrument into the instrument fixture, that is, the user does not need to calibrate the position of the instrument end relative to the robotic arm during use.

[0093] During specific implementation, the installation process of the mounting base of the present invention is as follows: insert the first locating pin into the pin hole of the connecting seat 3 at the end of the robot arm, align the first countersunk hole 401 and the U-shaped locating groove 402 of the electrical isolation adapter mounting plate 4 with the locating step and the first locating pin of the connecting seat 3 at the end of the robot arm respectively, use the first hexagonal cylindrical head bolt to lock the electrical isolation adapter mounting plate 4 on the connecting seat 3 at the end of the robot arm, fix the outer ring of the tight ring of the bearing 9 in the small end of the stepped hole of the clamping seat 7; the inner ring of the loose ring of the bearing 9 is put on the cylindrical step 1001 of the clamping rotation locking seat 10, and then the rotating body of the bearing 9 is placed in the rotating groove of the tight ring. Align the rotating groove of the loose ring of the loose ring clamping rotation locking seat 10 of the bearing 9 with the bearing rotating body, and install the clamping rotation locking seat 10 in the large end of the stepped hole of the clamping seat 7; pass through the waist-shaped groove 702 on the side of the clamping seat 7, and lock the clamping drive handle 8 on the fourth screw hole 1002 of the clamping rotation locking seat 10; insert the second positioning pin into the second pin hole 403 of the electrical isolation adapter mounting plate 4, align the third pin hole 704 on the clamping seat 7 with the second positioning pin, connect the second stepped hole 701 and the second screw hole 405 with the second hexagonal cylindrical head bolt, and lock the clamping base 5 on the electrical isolation adapter mounting plate 4. The large opening of the sterile isolation membrane is wrapped around the robotic arm and tightened with a cloth tape that meets medical requirements, and the circular hole of the small opening is aligned with the central circular hole of the first sterile isolation membrane pressing plane 711 on the clamping seat 7; the fourth positioning pin is inserted into the sixth pin hole 1103 of the marker adapter rod 11, and the positioning groove 1201 of the marker support rod 12 is aligned with the positioning boss 1105 on the marker adapter rod 11, and the seventh pin hole 1202 of the marker support rod 12 is aligned with the fourth positioning pin, and the fourth stepped hole 1203 and the seventh pin hole 1202 of the marker support rod 12 are connected with the fourth hexagon socket head bolt. The fifth screw hole 1104 is used to lock the marker support rod 12 on the marker adapter rod 11; the four marker mounting seats 13 are screwed into the seventh screw hole 1204 and the positioning hole 1205 of the marker support rod 12, and then the four markers 14 are inserted; the third positioning pin is inserted into the fourth pin hole 706 of the clamping seat 7, the fifth pin hole 1102 on the marker adapter rod 11 is aligned with the third positioning pin, and the third stepped hole 1101 and the third screw hole 705 are connected with the third hexagon socket head bolt to lock the marker assembly 6 on the clamping seat 7.

[0094] The instrument fixture installation process is as follows: insert the fifth positioning pin into the eighth pin hole 1503 of the tool base 15, align the second parallel surface 1806 of the instrument fixing seat 18 with the bottom surface of the installation groove 1501 of the tool base 15, position the side surface of the instrument fixing seat 18 with the side surface of the installation groove 1501 of the tool base 15, align the flat surface of the tool pressing block 16 with the first parallel surface 1805 of the instrument fixing seat 18, align the ninth pin hole 1604 of the tool pressing block 16 with the fifth positioning pin, connect the fifth stepped hole 1603 and the seventh screw hole 1502 with the fifth inner hexagon socket head bolt, and fix the tool pressing block 16. The tool base 15 is fixed to the instrument. The instrument handle 17 passes through the handle slot 1504 on the tool base 15 and then through the sixth stepped hole 1807 of the instrument holder 18. The end of the instrument handle 17 is axially positioned with the end surface 1505 of the handle slot 1504. If the instrument is a reciprocating electric saw, the electric saw handle needs to be positioned by passing through the second positioning slot 1507 to fix the direction of the electric saw teeth. The inner ring of the instrument pressing block 19 is attached to the instrument handle 17. The seventh stepped hole 1901 and the eighth screw hole 1803 are connected with the sixth hexagon socket head bolt to lock the instrument pressing block 19 to the instrument holder 18. Remove the tool pressing block 16 and take out the electric saw or osteotome or other osteotomy instrument with the instrument handle attached. Insert the first stepped cylinder 2001 (the end with the three second positioning holes 2002) of the instrument connector 20 into the instrument holder 18. When installing, make sure that the ninth screw hole 1804 on the first parallel surface 1805 of the instrument holder 18 is aligned with the three second positioning holes 2002. Then, use the first cylindrical set screw to connect the second positioning holes 2002 and the ninth screw hole 1804, and lock the instrument holder 18 onto the instrument connector 20. Insert the second stepped cylinder 2004 (the end with the four third positioning holes 2003) of the instrument connector 20 into the instrument clamping seat 21. Make sure that the second triangle mark 2110 of the instrument clamping seat 21 is aligned with the center line of the narrow slot 2005 (reference Figure 25 ), connect the third positioning hole 2003 and the tenth screw hole 2109 with a second cylindrical set screw to lock the instrument connector 20 to the instrument clamping base 21. When the alignment mark 22 of the instrument power cord and control line is connected to the instrument handle 17, the alignment mark 22 is aligned with the narrow slot 2005 of the instrument connector 20. Then, manually connect the instrument power cord and control line through the wide slot 2006. The instrument power cord and control line are passed through the side slot and do not enter the sterile barrier.

[0095] Quick positioning and assembly and disassembly of micro power tools: The clamping drive handle 8 is in the mark opening 703 position of the clamping seat 7, the center plane of the spiral groove 1004 on the clamping rotation locking seat 10 is in the same plane as the center plane of the clamping drive handle 8, and the rectangular groove 1003 on the clamping rotation locking seat 10 is at 90 degrees to the center plane of the clamping drive handle 8 (reference Figure 26Grasp the instrument connector 20 and align the second triangle mark 2110 on the instrument fixture 2 with the first triangle mark 709 on the mounting base 1 (reference Figure 27 The spiral convex groove 2105 on the transition cylindrical section 2104 of the instrument clamping seat 21 passes through the center hole of the sterile isolation membrane, the inner hole of the clamping seat 7, the inner hole of the bearing 9, the inner hole of the clamping rotation locking seat 10 and the rectangular groove 1003, and reaches the other side of the spiral groove 1004 of the clamping rotation locking seat 10. The spiral convex groove 2105 and the spiral groove 1004 are at 90 degrees to each other (reference Figure 28 ). Rotate the clamping drive handle 8 to the mark 710 position of the clamping seat 7, and clamp the spiral groove 1004 on the rotating locking seat 10 to lock the spiral convex groove 2105 on the instrument clamping seat 21, and the instrument clamp 2 is quickly installed on the mounting base 1 (refer to Figure 29 If another instrument fixture 2 needs to be replaced, grasp the instrument connector 20, rotate the clamping drive handle 8 to the marked opening 703 position of the clamping seat 7, remove the instrument fixture 2, replace it with another instrument fixture 2 and repeat the above installation and removal steps.

[0096] The above embodiments of the present invention are merely preferred embodiments of the present invention. It should be noted that a person skilled in the art may make several improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A smart device for quickly loading and unloading tools at the end of an oral craniomaxillofacial osteotomy robot, comprising a mounting base (1) mounted on a connecting base (3) at the end of a robot arm, and an instrument fixture (2), characterized in that: The mounting base (1) includes an electrical isolation adapter mounting plate (4), one end of which is fixed to the end flange of the robot arm, and the other end is connected to the marker assembly (6) through a clamping base (5), and the marker assembly (6) includes a marker support rod (12), and a plurality of markers (14) are provided on the marker support rod (12); the instrument fixture (2) includes an instrument fixing seat (18), one end of which fixes the instrument through an instrument pressing block (19), and the other end of which is connected to a handle (17), an instrument connector (20), and an instrument clamping seat (21) in sequence; the instrument clamping seat (21) of the instrument fixture (2) cooperates with the clamping base (5) of the mounting base (1) to realize the rapid replacement and installation of the instrument fixed on the instrument fixture (2) at the end of the robot arm.

2. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 1, characterized in that: The electrical isolation adapter mounting plate (4) is a cylinder, and an interface A is provided on one end surface of the cylinder, and the interface A includes a first countersunk hole (401), and the first countersunk hole (401) cooperates with the positioning step of the robot arm end connection seat (3); the bottom surface of the first countersunk hole (401) is connected to the robot arm end flange of the robot arm end connection seat (3) through four first hexagon socket head bolts arranged in an array and a first positioning pin; The other end face of the cylinder is provided with an interface B, which includes a plurality of second screw holes (405) evenly distributed around the circumference and a symmetrically arranged second pin hole (403); the interface A and the interface B are staggered, and the distance between the two meets the equivalent air creepage distance.

3. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 2, characterized in that: The clamping base (5) includes a clamping seat (7), which is a two-stage stepped sleeve. The large end of the stepped sleeve is a mounting flange, and the mounting flange is provided with an interface C and an interface D arranged in a staggered manner. Interface C includes a plurality of second stepped holes (701) uniformly distributed around the circumference and a third pin hole (704) arranged symmetrically, wherein the second stepped hole (701) is connected to the second screw hole (405) via a second hexagon socket head bolt, and the third pin hole (704) is connected to the second pin hole (403) via a second positioning pin; The interface D comprises third screw holes (705) arranged at intervals and fourth pin holes (706) arranged at intervals.

4. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 3, characterized in that: The inner hole of the stepped shaft sleeve is a stepped hole, a bearing (9) is provided in the small end of the stepped hole, a clamping and rotating locking seat (10) is provided in the large end of the stepped hole, and a gap is left between the large end of the stepped hole and the clamping and rotating locking seat (10); the outer ring of the small end of the stepped shaft sleeve is provided with a waist-shaped groove (702), and the waist-shaped groove (702) is also located at the large end of the stepped hole, and a clamping drive handle (8) is provided in the waist-shaped groove (702), one end of the clamping drive handle (8) is connected to the clamping and rotating locking seat (10), and the end face of the mounting flange away from the waist-shaped groove (702) is the first sterile isolation membrane pressing plane (711).

5. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 3, characterized in that: The marker assembly (6) is connected to the mounting flange via a marker adapter rod (11); The marker transfer rod (11) is a T-shaped structure, and an interface E is provided at the flange end of the T-shaped structure. The interface E is connected to the third screw hole (705) through a third hexagon socket head bolt, and the interface E is connected to the fourth pin hole (706) through a third positioning pin. The web end of the T-shaped structure is provided with an interface F, which comprises a positioning boss (1105), a sixth pin hole (1103) outside the positioning boss (1105), and a fifth screw hole (1104) at the center of the top surface of the positioning boss (1105).

6. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 5, characterized in that: The marker support rod (12) is a cross-shaped structure, and an interface G is provided at the center of the cross-shaped structure. The interface G includes a first positioning groove (1201), a seventh pin hole (1202) outside the first positioning groove (1201), and a fourth stepped hole (1203) at the center of the other side of the bottom surface of the first positioning groove (1201). The fourth stepped hole (1203) is used for connecting a fourth hexagon socket head bolt to the fifth screw hole (1104); the positioning boss (1105) cooperates with the first positioning groove (1201), and the seventh pin hole (1202) is used for connecting the fourth positioning pin to the sixth pin hole (1103); The four protruding ends of the cross-shaped structure are all provided with interfaces H, and the interface H includes a sixth screw hole (1204), and the sixth screw hole (1204) is provided with a first positioning hole (1205) coaxial therewith. The marker mounting seat (13) includes an interface I, and the interface I includes a first positioning column (1302), and one end of the first positioning column (1302) is provided with a stud (1301), and the stud (1301) is connected to the sixth screw hole (1204), and the first positioning column (1302) is located in the first positioning hole (1205), and the four markers (14) are respectively installed at the other end of the first positioning column (1302).

7. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 6, characterized in that: The instrument fixing seat (18) is a cylindrical structure, and an interface J is provided at one end of the cylindrical structure, and the interface J includes a third through hole (1801), a second side groove (1802), and an eighth screw hole (1803) on the bottom surface of the second side groove (1802), the third through hole (1801) is located at the center of the cylindrical structure, and the second side groove (1802) is located on the outer cylindrical surface close to the end surface of one side of the cylindrical structure; An interface K is provided at the other end of the cylindrical structure, and the interface K includes a sixth stepped hole (1807) and several ninth screw holes (1804) arranged at 120 degrees to each other on the circumference. The sixth stepped hole (1807) is located at the center of the other end face of the cylindrical structure. The sixth stepped hole (1807) is coaxial with the third through hole (1801). The small end of the sixth stepped hole (1807) is connected to the third through hole (1801), and the ninth screw hole (1804) is located at the large end of the stepped hole of the sixth stepped hole (1807).

8. The tool quick assembly and disassembly device for the distal end of an oral craniomaxillofacial osteotomy robot according to claim 7, characterized in that: The instrument connector (20) is a three-stage stepped hollow circular tube, the middle of the hollow circular tube is the large end, and the two ends of the hollow circular tube are small ends, and the two small ends are respectively an interface L and an interface M; The interface L comprises a first stepped cylinder (2001), a plurality of second positioning holes (2002) evenly distributed on the outer cylindrical surface of the first stepped cylinder (2001), the first stepped cylinder (2001) being coaxial with the third through hole (1801); the first stepped cylinder (2001) being used for circumferential positioning with the instrument fixing seat (18), and the second positioning hole (2002) being used for the first cylindrical set screw to connect to the ninth screw hole (1804); The interface M comprises a second step cylinder (2004), a plurality of third positioning holes (2003) evenly distributed on the outer cylindrical surface of the second step cylinder (2004), and the second step cylinder (2004) is coaxial with the third through hole (1801); the large end circumferential surface of the hollow circular tube is provided with four rows and two columns of equal long grooves at 90 degrees to each other, the long grooves comprising a narrow long groove (2005) parallel to the center plane of the saw blade of the electric saw at the instrument base, and a wide long groove (2006) close to the connection side of the instrument clamping seat (21).

9. The tool quick assembly and disassembly device for the end of an oral craniomaxillofacial osteotomy robot according to claim 8, characterized in that: The instrument holding seat (21) is a multi-section stepped shaft, the large end of the stepped shaft is located in the middle, and a second sterile isolation membrane pressing plane (2101) is provided on one side of the large end of the stepped shaft; a second triangular mark (2110) is provided on the outer ring of the second sterile isolation membrane pressing plane (2101); A cylindrical section (2102) and a transition cylindrical section (2104) are sequentially provided on the second sterile isolation membrane compression plane (2101) toward the side away from the large end. The outer ring of the cylindrical section (2102) is provided with two fool-proof bosses (2103) of different sizes. The fool-proof bosses (2103) are used in conjunction with the fool-proof groove (708). The outer ring of the end face of the transition cylindrical section (2104) away from the cylindrical section (2102) is provided with two sections of second annular bosses at 180 degrees to each other. The outer edge of the second annular boss is provided with a spiral convex groove (2105). The center plane of the second annular boss coincides with the center plane of the rectangular groove (1003) of the clamping rotary locking seat (10); A cylindrical tube is provided on the other side of the large end of the stepped shaft, and an interface N is provided on the cylindrical tube. The interface N includes an eighth stepped hole (2108) and several tenth screw holes (2109) evenly distributed on the outer cylindrical surface of the eighth stepped hole (2108). The tenth screw hole (2109) is used for the second cylindrical set screw to connect the third positioning hole (2003). A fourth through hole (2107) is provided on one side of the large end of the stepped shaft, and a third side groove (2106) is provided in the circumferential axial direction of the fourth through hole (2107). The power cord and the control line of the instrument pass through the third side groove (2106) and do not enter the sterile barrier.

10. A tool for installing an end tool of an oral craniomaxillofacial osteotomy robot, comprising a tool assembly capable of fixing an instrument fixing seat (18), characterized in that: The outer cylindrical surface of the instrument fixing seat (18) is provided with parallel surfaces parallel to each other, and the two parallel surfaces correspond to the first parallel surface (1805) and the second parallel surface (1806) respectively; the tooling assembly is composed of a tooling base (15) and a tooling pressure block (16); after the instrument fixing seat (18) is mounted on the tooling base (15) and positioned, the tooling pressure block (16) is locked on the tooling base (15) by a fifth hexagon socket head bolt and a fifth positioning pin; The tooling base (15) is a rectangular block, and the center of the top surface of the rectangular block is provided with a clearance groove (1506), a second positioning groove (1507), a handle groove (1504), a mounting groove (1501), and an avoidance groove in sequence from one side to the other side; wherein the groove width between the clearance groove (1506) and the avoidance groove gradually increases; the second parallel surface (1806) is in contact with the bottom surface of the mounting groove (1501); The top surface of the rectangular block is provided with an interface O, which includes seventh screw holes (1502) located at the four corner points of the rectangle and eighth pin holes (1503) arranged at intervals; The tool pressing block (16) includes a first semi-annular shape (1601), a first plane (1602) is provided in the middle of the inner annular surface of the first semi-annular shape (1601), the first plane (1602) cooperates with the first parallel surface (1805), and a first side groove (1605) is provided on the outer annular surface of the first semi-annular shape (1601), and the first side groove (1605) is used to install the instrument pressing block (19); Both ends of the first semi-ring (1601) are provided with flanges, each flange is provided with a fifth stepped hole (1603) arranged at intervals, and a ninth pin hole (1604) located between the two fifth stepped holes (1603), the fifth stepped hole (1603) is used for the fifth hexagon socket head bolt to connect to the seventh screw hole (1502), and the ninth pin hole (1604) is used for the fifth locating pin to connect to the eighth pin hole (1503).

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