A multi-arm orthopedic medical robot

Abstract

This application relates to the field of medical devices and discloses a multi-arm orthopedic medical robot, including a mounting frame, a camera, a robotic arm, and orthopedic instruments. It also includes a receiving cylinder hinged to the top of the orthopedic instruments via a set of hinge blocks, the inner cavity of which is filled with a sealing fluid; and a telescopic column, which is sealed within the receiving cylinder. This invention utilizes multiple sets of fluid guide ports at the bottom of the telescopic column to allow the sealing fluid to flow along these ports during relative sliding of the receiving cylinder and the telescopic column, maintaining their telescopic function. Once the robotic arm has adjusted the angle of the orthopedic instruments, the receiving cylinder and the telescopic column cease relative movement, becoming a rigidly connected unit. In this state, the reaction force generated during drilling, hammering, or other operations on bone areas by the orthopedic instruments is directly transmitted to the mounting frame through the receiving cylinder and the telescopic column, thereby protecting the robotic arm and maintaining the stability of the device.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a multi-arm orthopedic medical robot. Background Technology

[0002] Robots play a wide role in orthopedic medicine, assisting doctors in surgery and nurses in patient care. Especially during orthopedic surgery, doctors often need to drill or hammer into the patient's bones to achieve bone repositioning or treatment. In existing technologies, orthopedic medical robots composed of multiple robotic arms have largely replaced doctors in performing simpler orthopedic surgeries. Using cameras to track and then moving the orthopedic instruments connected to their ends to designated positions, the robotic arms can greatly improve surgical accuracy and reduce the physical exertion of doctors. However, when drilling or hammering, which require external force to treat the patient's bones, the robotic arms are susceptible to the reaction forces between the bone and the surgical instruments. These rigid reaction forces often act entirely on the precision joints of the robotic arms without being released, causing damage to the robotic arms' tightness. Therefore, the bending moment generated at the end of the robotic arm relative to the fulcrum is the largest, making the negative effects of the reaction forces more pronounced. Currently, there is virtually no end-effector stabilization system for robotic arms during drilling or hammering; therefore, this application aims to optimize it. Summary of the Invention

[0003] This application proposes a multi-arm orthopedic medical robot with good stability, which solves the problems in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solution: a multi-arm orthopedic medical robot, including a mounting frame, a camera, a robotic arm, and orthopedic instruments, and further comprising: A receiving tube, which is hinged to the top of the orthopedic device by a set of hinge blocks, the inner cavity of the receiving tube being filled with a sealing fluid; A telescopic column is sealed inside a receiving cylinder. A liquid guide port is provided at the bottom end of the telescopic column. A connecting column is sealed at the bottom of the telescopic column. A limit ring is fixedly connected to the lower end of the connecting column. A sealing ring is glued to the top of the limit ring. The sealing ring abuts against the bottom end of the telescopic column and blocks the liquid guide port. A support cylinder is fixedly connected to the bottom end of the telescopic column. A spring is elastically connected between the limit ring and the support cylinder. A fixed block is fixedly installed at the bottom of the mounting frame. A rotating ball is movably sleeved inside the fixed block. Another set of hinge blocks is fixedly connected to the bottom of the rotating ball and is hinged to the telescopic column through the hinge blocks. This invention features a redesigned, extendable, and rigidly connected housing and telescopic column between the orthopedic instruments and the mounting frame. This design absorbs the reaction force generated by the orthopedic instruments during drilling, hammering, and other operations on bone areas, reducing the impact load on the motors and gears in the robotic arm joints and improving the stability of the device. To achieve this, the housing cavity is filled with a sealing fluid. Multiple fluid guide ports are provided at the bottom of the telescopic column, allowing the sealing fluid to flow along these ports during relative sliding of the housing and the telescopic column, maintaining their telescopic function. Once the robotic arm has adjusted the angle of the orthopedic instruments, the housing and the telescopic column cease relative movement, becoming a rigidly connected unit. In this state, the reaction force generated by the orthopedic instruments during drilling, hammering, and other operations on bone areas is directly transmitted to the mounting frame through the housing and the telescopic column, thus protecting the robotic arm and maintaining the stability of the device.

[0005] To allow the housing and telescopic column to freely switch between free sliding and rigid connection as a single unit, this device has a set of support cylinders fixedly connected to the bottom of the telescopic column. A set of springs is movably sleeved on the outer surface of the support cylinders. The springs apply pressure to the limiting ring, causing the limiting ring and sealing ring 1 to continuously apply upward pressure to the bottom of the telescopic column and seal the fluid inlet. When the robotic arm rotates the orthopedic instrument downwards, the telescopic column begins to extend outwards from the housing. At this time, the sealing fluid can freely push open the limiting ring and sealing ring 1, allowing the telescopic column to move freely. After the orthopedic instrument stops and drilling, hammering, or other operations on the bone begin, the reaction force acts on the housing, causing the telescopic column to move downwards relative to the housing. At this time, the sealing fluid at the bottom of the limiting ring will exert upward pressure on the limiting ring, thus sealing only the fluid inlet. Since the sealing fluid is incompressible, the relative position between the housing and the telescopic column is fixed, thus forming a rigidly connected unit.

[0006] Finally, when it is necessary to restore the relative sliding between the receiving cylinder and the telescopic column, simply energize the electromagnet to apply pressure to the permanent magnet, thereby driving the connecting column and the limiting ring to move downward and reopen the liquid inlet. This design can also be applied in power outage scenarios, where the electromagnet cannot apply pressure to the permanent magnet due to the power outage, making it impossible to disengage the rigid connection between the receiving cylinder and the telescopic column, thus providing rigid support for orthopedic devices.

[0007] Preferably, the camera is installed in the middle of the bottom surface of the mounting frame, the robotic arms are configured in at least two groups and are installed at equal angles around the bottom of the outer side of the mounting frame, and the orthopedic instruments are installed at the ends of the robotic arms; like Figure 3 As shown, the robotic arm can be set to at least two sets as needed, and the camera is used to view the surgical site of the patient.

[0008] Preferably, an electromagnet is fixedly installed in the inner cavity of the telescopic column, a permanent magnet located on the inner ring surface of the electromagnet is fixedly installed at the top of the connecting column, and a guide block located in the inner cavity of the telescopic column is fixedly installed on the outer surface of the connecting column. like Figure 5 As shown, the function of the electromagnet is to generate a downward force on the permanent magnet after it is energized, which in turn causes the connecting column, the limiting ring and the sealing ring to move down and separate from the bottom of the telescopic column, so that the liquid guide port can be opened freely. At this time, the receiving cylinder and the telescopic column can be freely extended and retracted.

[0009] Preferably, a second sealing ring is fixedly connected to the bottom end of the telescopic column, the outer surface of the connecting column is sealed with the second sealing ring, and multiple sets of connecting rods are fixedly connected to the bottom of the lower end of the connecting column, and the top end of the connecting rod is fixedly connected to the limiting ring. like Figure 6 As shown, when the connecting column moves under the action of the electromagnet and the permanent magnet, its outer side forms a seal by squeezing and fitting with the sealing ring, preventing the sealing liquid from entering the sealing cavity.

[0010] Preferably, the diameter of the bottom end of the connecting column is smaller than the inner diameter of the receiving cylinder, and the bottom end of the connecting column has multiple sets of liquid inlets; like Figure 6 As shown, the function of the liquid inlet is to reduce the resistance of the connecting column when it moves downward. The liquid inlet allows the sealing fluid to pass through, thereby achieving the effect of stress relief.

[0011] Preferably, the support cylinder is located inside the limiting ring, the spring is movably sleeved on the outer surface of the support cylinder, and the spring is compressed and disposed at the bottom of the limiting ring; like Figure 6 As shown, the support cylinder provides support for the spring, and the spring provides elastic support to the limiting ring upward, so that the limiting ring and the sealing ring can always be tightly abutted against the bottom end of the telescopic column to form a seal, thereby blocking the liquid outlet.

[0012] Preferably, the sealing oil fills the inner cavity of the receiving cylinder and seals against the sealing ring one and the sealing ring two respectively, wherein the sealing ring one and the sealing ring two are both made of rubber blocks; like Figure 6 As shown, the sealing fluid serves to transform the container cylinder and telescopic column from free expansion and contraction to rigid connection. Utilizing the incompressible property of the sealing fluid, and in conjunction with the opening and closing of the liquid guide port, the telescopic column can move freely inside the container cylinder when the liquid guide port is open. When the limiting ring and sealing ring block the liquid guide port, preventing the sealing fluid from flowing freely through the liquid guide port, the telescopic column is fixed.

[0013] Preferably, the telescopic column has a sealed cavity inside, the electromagnet is fixedly connected in the sealed cavity, and the sealed cavity is slidably sleeved on the inner wall of the sealed cavity; like Figure 6 As shown, the electromagnet, permanent magnet, connecting column, and guide block are all located inside the sealed cavity and are sealed by the connecting column and the sealing ring. The guide block slides inside the sealed cavity to provide guidance for the movement of the connecting column.

[0014] The beneficial effects of this invention are as follows: 1. This invention features a redesigned, extendable, and rigidly connected integrated housing and telescopic column between the orthopedic instruments and the mounting frame. This design absorbs the reaction force generated by the orthopedic instruments during drilling, hammering, and other operations on bone areas, reducing the impact load on the motors and gears in the various joints of the robotic arm and improving the stability of the device. To achieve this, the inner cavity of the housing is filled with a sealing fluid. Multiple fluid guide ports are provided at the bottom of the telescopic column, allowing the sealing fluid to flow along these ports during relative sliding of the housing and the telescopic column. This maintains the telescopic function of the housing and the telescopic column. Once the robotic arm has adjusted the angle of the orthopedic instruments, the housing and the telescopic column cease relative movement, becoming a rigidly connected unit. In this state, the reaction force generated by the orthopedic instruments during drilling, hammering, and other operations on bone areas is directly transmitted to the mounting frame through the housing and the telescopic column, thus protecting the robotic arm and maintaining the stability of the device.

[0015] 2. To enable the housing and telescopic column to freely switch between free sliding and rigid connection as a whole, this device has a set of support cylinders fixedly connected to the bottom of the telescopic column. A set of springs is movably sleeved on the outer surface of the support cylinder. The springs apply pressure to the limiting ring, causing the limiting ring and sealing ring 1 to continuously apply upward pressure to the bottom of the telescopic column and seal the liquid outlet. When the robotic arm rotates the orthopedic instrument downward, the telescopic column begins to extend outward from the housing. At this time, the sealing fluid can freely push open the limiting ring and sealing ring 1, and the telescopic column can move freely. After the orthopedic instrument stops and drilling, hammering, or other operations on the bone begin, its reaction force acts on the housing, causing the telescopic column to move downward relative to the housing. At this time, the sealing fluid at the bottom of the limiting ring will exert upward pressure on the limiting ring, thus sealing only the liquid outlet. Since the sealing fluid is incompressible, the relative position between the housing and the telescopic column is fixed, thus forming a rigid connection as a whole.

[0016] 3. Finally, when it is necessary to restore the relative sliding between the receiving cylinder and the telescopic column, simply energize the electromagnet to apply pressure to the permanent magnet, thereby driving the connecting column and the limiting ring to move downward and reopen the liquid inlet. This design can also be applied in power outage scenarios, where the electromagnet cannot apply pressure to the permanent magnet due to the power outage, making it impossible to disengage the rigid connection between the receiving cylinder and the telescopic column, thus providing rigid support for orthopedic devices. Attached Figure Description

[0017] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles of this application in a clear and understandable manner.

[0018] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein: Figure 1 This is a schematic diagram of the internal cross-section of the receiving cylinder of the present invention; Figure 2 For the present invention Figure 1 Enlarged schematic diagram of the structure at point A; Figure 3 This is a front view diagram of the overall structure of the present invention; Figure 4 This is a schematic diagram showing the connection of the robotic arm, orthopedic equipment, receiving cylinder, telescopic column, fixing block, rotating ball and hinge block of the present invention; Figure 5 This is a schematic diagram of the axial section of the housing cylinder and telescopic column of the present invention; Figure 6 For the present invention Figure 5 Enlarged schematic diagram of the structure at point B; Figure 7 This is a schematic diagram showing the separation of the telescopic column, permanent magnet, connecting column, connecting rod, guide block, limiting ring, sealing ring one, and sealing ring two of the present invention. Figure 8 This is a schematic diagram of the radial section of the receiving cylinder of the present invention.

[0019] The components include: 1. Mounting frame; 2. Camera; 3. Robotic arm; 4. Orthopedic instruments; 5. Receptacle; 6. Telescopic column; 7. Fixing block; 8. Rotating ball; 9. Hinge block; 10. Electromagnet; 11. Permanent magnet; 12. Connecting column; 121. Liquid inlet; 122. Connecting rod; 13. Liquid guide port; 14. Guide block; 15. Limiting ring; 16. Sealing ring one; 17. Sealing ring two; 18. Support cylinder; 19. Spring; 20. Sealing cavity. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] Please see Figures 1-8 This embodiment discloses a multi-arm orthopedic medical robot, including a mounting frame 1, a camera 2, a robotic arm 3, and orthopedic instruments 4, and also includes: The receiving cylinder 5 is hinged to the top of the orthopedic device 4 by a set of hinge blocks 9, and the inner cavity of the receiving cylinder 5 is filled with sealing fluid. The telescopic column 6 is sealed inside the receiving cylinder 5. The bottom end of the telescopic column 6 is provided with a liquid guide port 13. The bottom of the telescopic column 6 is sealed with a connecting column 12. The lower end of the connecting column 12 is fixedly connected to a limit ring 15. The top of the limit ring 15 is glued with a sealing ring 16. The sealing ring 16 seals against the bottom end of the telescopic column 6 and blocks the liquid guide port 13. The bottom end of the telescopic column 6 is fixedly connected to a support cylinder 18. A spring 19 is elastically connected between the limit ring 15 and the support cylinder 18. The fixing block 7 is fixedly installed at the bottom of the mounting frame 1. The rotating ball 8 is movably sleeved inside the fixing block 7. Another set of hinge blocks 9 is fixedly connected to the bottom of the rotating ball 8 and is hinged to the telescopic column 6 through the hinge blocks 9. This invention features a redesigned, extendable, and rigidly connected integrated housing 5 and telescopic column 6 between the orthopedic instrument 4 and the mounting frame 1. This integrated housing 5 and telescopic column 6 absorb the reaction force generated by the orthopedic instrument 4 during drilling and hammering operations on bone areas, reducing the impact load on the motors and gears in the joints of the robotic arm 3 and improving the stability of the device. To achieve this, the inner cavity of the housing 5 is filled with sealing fluid. Multiple sets of fluid guide ports 13 are provided at the bottom of the telescopic column 6, allowing the sealing fluid to flow along these ports during relative sliding of the housing 5 and the telescopic column 6, maintaining their telescopic function. Once the robotic arm 3 has adjusted the angle of the orthopedic instrument 4, the housing 5 and the telescopic column 6 cease relative movement, becoming a rigidly connected unit. In this state, the reaction force generated by the orthopedic instrument 4 during drilling and hammering operations on bone areas is directly transmitted to the mounting frame 1 through the housing 5 and the telescopic column 6, thus protecting the robotic arm 3 and maintaining the stability of the device.

[0022] To allow the receiving cylinder 5 and the telescopic column 6 to freely switch between free sliding and rigid connection as a single unit, this device has a set of support cylinders 18 fixedly connected to the bottom of the telescopic column 6. A set of springs 19 are movably sleeved on the outer surface of these support cylinders. The springs 19 apply pressure to the limiting ring 15, causing the limiting ring 15 and the sealing ring 16 to continuously apply upward pressure to the bottom end of the telescopic column 6 and seal the liquid outlet 13. When the robotic arm 3 rotates the orthopedic instrument 4 downwards, the telescopic column 6 begins to extend outwards from the receiving cylinder 5. At this time, the sealing liquid can freely... After the limiting ring 15 and sealing ring 16 are broken, the telescopic column 6 can move freely. When the orthopedic instrument 4 stops and the drilling, hammering and other operations on the bone are started, its reaction force acts on the receiving cylinder 5, causing the telescopic column 6 to move downward relative to the receiving cylinder 5. At this time, the sealing fluid at the bottom of the limiting ring 15 will exert upward pressure on the limiting ring 15, thereby sealing only the liquid guide port 13. Since the sealing fluid cannot be compressed, the relative position between the receiving cylinder 5 and the telescopic column 6 is fixed, thus forming a rigid connection.

[0023] Finally, when it is necessary to restore the relative sliding between the receiving cylinder 5 and the telescopic column 6, simply energize the electromagnet 10 to apply pressure to the permanent magnet 11, thereby driving the connecting column 12 and the limiting ring 15 to move downward and reopen the liquid guide port 13. This design can also be applied to power outage scenarios. Since the electromagnet 10 cannot apply pressure to the permanent magnet 11 due to the power outage, the rigid connection between the receiving cylinder 5 and the telescopic column 6 cannot be released, thus providing rigid support for the orthopedic device 4.

[0024] In this embodiment, the camera 2 is installed in the middle of the bottom surface of the mounting frame 1, the robotic arm 3 is set in at least two groups and is installed at the bottom of the outer side of the mounting frame 1 at equal angles around the circumference, and the orthopedic instrument 4 is installed at the end of the robotic arm 3. like Figure 3 As shown, the robotic arm 3 can be set to at least two sets as needed, and the camera 2 is used to view the surgical site of the patient.

[0025] In this embodiment, an electromagnet 10 is fixedly installed in the inner cavity of the telescopic column 6, a permanent magnet 11 located on the inner ring surface of the electromagnet 10 is fixedly installed at the top of the connecting column 12, and a guide block 14 located in the inner cavity of the telescopic column 6 is fixedly installed on the outer surface of the connecting column 12. like Figure 5 As shown, the function of the electromagnet 10 is to generate a downward force on the permanent magnet 11 after it is energized, and drive the connecting column 12, the limiting ring 15 and the sealing ring 16 to move down and separate from the bottom end of the telescopic column 6, so that the liquid guide port 13 can be opened freely. At this time, the receiving cylinder 5 and the telescopic column 6 can be freely extended and retracted.

[0026] In this embodiment, a sealing ring 17 is fixedly connected to the bottom end of the telescopic column 6, and the outer surface of the connecting column 12 is sealed with the sealing ring 17. Multiple sets of connecting rods 122 are fixedly connected to the bottom of the lower end of the connecting column 12, and the top end of the connecting rods 122 is fixedly connected to the limiting ring 15. like Figure 6 As shown, when the connecting column 12 moves under the action of the electromagnet 10 and the permanent magnet 11, its outer side forms a seal by squeezing and sleeved with the sealing ring 17, preventing the sealing liquid from entering the sealing cavity 20.

[0027] In this embodiment, the diameter of the bottom end of the connecting column 12 is smaller than the inner diameter of the receiving cylinder 5, and multiple sets of liquid inlets 121 are provided at the bottom end of the connecting column 12. like Figure 6 As shown, the function of the liquid inlet 121 is to reduce the resistance of the connecting column 12 as a whole when it moves downward. The liquid inlet 121 allows the sealing fluid to pass through, thereby achieving the effect of relieving pressure.

[0028] In this embodiment, the support cylinder 18 is located inside the limiting ring 15, and the spring 19 is movably sleeved on the outer surface of the support cylinder 18. The spring 19 is compressed and disposed at the bottom of the limiting ring 15. like Figure 6 As shown, the support cylinder 18 provides support for the spring 19, and the spring 19 provides elastic support to the limiting ring 15 upward, so that the limiting ring 15 and the sealing ring 16 can always be tightly abutted against the bottom end of the telescopic column 6 to form a seal, thereby blocking the liquid guide port 13.

[0029] In this embodiment, the sealing oil fills the inner cavity of the receiving cylinder 5 and seals against the sealing ring 16 and the sealing ring 27 respectively. Both the sealing ring 16 and the sealing ring 27 are made of rubber blocks. like Figure 6 As shown, the sealing fluid serves to transform the container cylinder 5 and the telescopic column 6 from free expansion and contraction to rigid connection. Utilizing the incompressible property of the sealing fluid, and in conjunction with the opening and closing of the liquid guide port 13, the telescopic column 6 can move freely inside the container cylinder 5 when the liquid guide port 13 is open. When the limiting ring 15 and the sealing ring 16 block the liquid guide port 13, preventing the sealing fluid from flowing freely through the liquid guide port 13, the telescopic column 6 is fixed.

[0030] In this embodiment, a sealing cavity 20 is provided inside the telescopic column 6, and the electromagnet 10 is fixedly connected in the sealing cavity 20. The sealing cavity 20 is slidably sleeved on the inner wall of the sealing cavity 20. like Figure 6 As shown, the electromagnet 10, permanent magnet 11, connecting post 12 and guide block 14 are all located inside the sealed cavity 20 and are sealed with the sealing ring 17 through the connecting post 12. The guide block 14 slides inside the sealed cavity 20 to provide guidance for the movement of the connecting post 12.

[0031] Working principle: When this device is in operation: First, camera 2 is turned on and identifies the patient's location. At this time, robotic arm 3 rotates orthopedic instrument 4, moving it to the designated position. During this process, orthopedic instrument 4 will rotate the receiving cylinder 5 and telescopic column 6 via hinge block 9. The relative movement between receiving cylinder 5 and telescopic column 6 may have the following two possibilities: 1. The telescopic column 6 moves towards the side detached from the inner cavity of the receiving cylinder 5: In this state, the orthopedic instrument 4 rotates downward under the drive of the robotic arm 3, as... Figure 5 As shown, the telescopic column 6 will move upward relative to the receiving cylinder 5. At this time, the limiting ring 15 and the sealing ring 16 will move upward as well. After encountering the resistance of the sealing liquid, they will move downward and continuously compress the spring 19 until the receiving cylinder 5 and the telescopic column 6 stop moving relative to each other. II. The telescopic column 6 tends to extend or retract towards the inside of the receiving cylinder 5: In this state, the receiving cylinder 5 and the telescopic column 6 cannot move relative to each other, such as... Figure 5 As shown, at this time, the orthopedic device 4 completes the position adjustment and begins to perform drilling or hammering operations. The reaction force generated will be transmitted upward along the orthopedic device 4 and the receiving cylinder 5. At this time, the telescopic column 6 will have a downward movement tendency relative to the receiving cylinder 5. At this time, due to the action of the limiting ring 15 and the sealing ring 16 under the action of the spring 19, they form a seal with the bottom end of the telescopic column 6, thereby blocking the liquid guide port 13, so that the sealing liquid on the upper and lower sides of the liquid guide port 13 cannot flow. The limiting ring 15 and the sealing ring 16 cannot move downward under the upward pressure of the sealing liquid. At this time, the receiving cylinder 5 and the telescopic column 6 are fixed as a whole. The force of the orthopedic device 4 after performing the above operations is transmitted to the mounting frame 1 through the rigid connection of the receiving cylinder 5 and the telescopic column 6, thereby reducing the load on the motors and gears of each joint of the robotic arm 3 and improving the stability of the device. Then, when the robotic arm 3 rotates and adjusts the orthopedic instrument 4, and drives the receiving cylinder 5 and the telescopic column 6 to move according to situation two, the electromagnet 10 is energized, and the permanent magnet 11 is subjected to downward pressure, which drives the connecting column 12, the connecting rod 122, the limiting ring 15 and the sealing ring 16 to disengage downward from the contact with the telescopic column 6. At this time, the sealing fluid can flow freely along the liquid guide port 13, and the receiving cylinder 5 and the telescopic column 6 can move freely in and out.

[0032] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A multi-arm orthopedic medical robot, comprising a mounting frame (1), a camera (2), a robotic arm (3), and orthopedic instruments (4), characterized in that, Also includes: The receiving tube (5) is hinged to the top of the orthopedic device (4) by a set of hinge blocks (9), and the inner cavity of the receiving tube (5) is filled with sealing liquid; The telescopic column (6) is sealed inside the receiving cylinder (5). The bottom end of the telescopic column (6) is provided with a liquid guide port (13). The bottom of the telescopic column (6) is sealed with a connecting column (12). The lower end of the connecting column (12) is fixedly connected with a limiting ring (15). The top of the limiting ring (15) is glued with a sealing ring (16). The sealing ring (16) seals against the bottom end of the telescopic column (6) and blocks the liquid guide port (13). The bottom end of the telescopic column (6) is fixedly connected with a support cylinder (18). A spring (19) is elastically connected between the limiting ring (15) and the support cylinder (18). A fixed block (7) is fixedly installed at the bottom of the mounting frame (1). A rotating ball (8) is movably sleeved inside the fixed block (7). Another set of hinge blocks (9) is fixedly connected to the bottom of the rotating ball (8) and is hinged to the telescopic column (6) through the hinge blocks (9).

2. The multi-arm orthopedic medical robot according to claim 1, characterized in that, The camera (2) is installed in the middle of the bottom surface of the mounting frame (1), the robotic arm (3) is set in at least two groups and is installed at the bottom of the outer side of the mounting frame (1) at equal angles around the circumference, and the orthopedic device (4) is installed at the end of the robotic arm (3).

3. The multi-arm orthopedic medical robot according to claim 2, characterized in that, An electromagnet (10) is fixedly installed in the inner cavity of the telescopic column (6), a permanent magnet (11) located on the inner ring surface of the electromagnet (10) is fixedly installed at the top of the connecting column (12), and a guide block (14) located in the inner cavity of the telescopic column (6) is fixedly installed on the outer surface of the connecting column (12).

4. The multi-arm orthopedic medical robot according to claim 3, characterized in that, The bottom end of the telescopic column (6) is fixedly connected to a sealing ring two (17), the outer surface of the connecting column (12) is sealed to the sealing ring two (17), and the bottom of the lower end of the connecting column (12) is fixedly connected to multiple sets of connecting rods (122), and the top end of the connecting rods (122) is fixedly connected to the limiting ring (15).

5. A multi-arm orthopedic medical robot according to claim 4, characterized in that, The diameter of the bottom end of the connecting column (12) is smaller than the inner diameter of the container (5), and multiple sets of liquid inlets (121) are opened at the bottom end of the connecting column (12).

6. A multi-arm orthopedic medical robot according to claim 5, characterized in that, The support cylinder (18) is located inside the limiting ring (15), and the spring (19) is movably sleeved on the outer surface of the support cylinder (18). The spring (19) is compressed and set at the bottom of the limiting ring (15).

7. A multi-arm orthopedic medical robot according to claim 6, characterized in that, The sealing oil fills the inner cavity of the receiving cylinder (5) and seals against the sealing ring one (16) and sealing ring two (17) respectively. The sealing ring one (16) and sealing ring two (17) are both made of rubber blocks.

8. A multi-arm orthopedic medical robot according to claim 7, characterized in that, The telescopic column (6) has a sealed cavity (20) inside, the electromagnet (10) is fixedly connected in the sealed cavity (20), and the sealed cavity (20) is slidably sleeved on the inner wall of the sealed cavity (20).

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