Osteotomy device and surgical robot

Abstract

The utility model discloses an osteotomy device and a surgical robot. The osteotomy device comprises a main body, a grinding body and a driving mechanism, the grinding body is rotatably mounted on the main body, and the grinding body is at least used for rotatably grinding an arc-shaped bone section matched with a replacement prosthesis at a bone affected part along a preset path; the driving mechanism comprises a driving assembly and a transmission assembly, the transmission assembly is installed on the main body and located between the driving assembly and the grinding body, and the transmission assembly is driven by the driving assembly to drive the grinding body to rotate. The problem that the arc-shaped bone section cannot be cut out when bone cutting operation is conducted on the affected part of the bone is solved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an osteotomy device and a surgical robot. Background Art

[0002] In total knee replacement surgery, femoral osteotomy is an extremely important step. The accuracy of femoral osteotomy directly affects the effect of the installation of the replacement prosthesis, and then affects the postoperative rehabilitation effect. At present, the main method used to perform osteotomy on the bone of the affected area is an oscillating saw. During osteotomy, an osteotomy guide is required to guide the oscillating saw to perform osteotomy in a predetermined direction. Since some replacement prostheses (such as unicompartmental prostheses) used to be inserted into the knee joint and other affected areas usually have an arc-shaped side that matches the bone, in order to make the prosthesis more consistent with the bone cross-section and thus accurately and stably install the prosthesis at the bone cross-section, it is necessary to ensure that the bone cross-section obtained after osteotomy of the affected area is an arc-shaped surface. However, since the oscillating saw can only cut out straight cross-sections, currently the only way to perform osteotomy on the femur is to repeatedly install the osteotomy guide in multiple steps using an oscillating saw, and finally cut out a concave cross-section composed of multiple straight cross-sections (the shape of the concave cross-section is as follows: Figure 1 As shown in the figure, it is impossible to cut out an arc-shaped bone section, which not only leads to low osteotomy efficiency, but also poor accuracy of the obtained concave section, making it difficult to better match and install the prosthesis. Utility Model Content

[0003] The main purpose of the present application is to provide an osteotomy device and a surgical robot to at least solve the problem mentioned in the background art that an arc-shaped bone cross-section cannot be cut out during an osteotomy operation on a bone affected part.

[0004] According to one aspect of the present application, there is provided an osteotomy device, comprising:

[0005] main body;

[0006] A grinding body, the grinding body is rotatably mounted on the main body, and the grinding body is at least used to rotate and grind an arc-shaped bone cross section that matches the replacement prosthesis at the bone affected part along a predetermined path;

[0007] The driving mechanism comprises a driving assembly and a transmission assembly. The transmission assembly is mounted on the main body and is located between the driving assembly and the grinding body. The transmission assembly drives the grinding body to rotate under the drive of the driving assembly.

[0008] Further, the main body includes a connecting section and an extension section connected to each other, the length of the extension section extends along a first direction, a first installation chamber is opened in the connecting section, a second installation chamber is opened in the extension section, and the second installation chamber extends along the length direction of the extension section and is connected to the first installation chamber at the connection between the connecting section and the extension section, and the transmission assembly includes:

[0009] an active rotating part, which is disposed in the first installation chamber and rotates under the drive of the driving assembly;

[0010] A driven rotating part, the driven rotating part is arranged on a side of the second installation chamber away from the first installation chamber, and the grinding body is rotatably mounted on the extension section through the driven rotating part;

[0011] A closed-loop transmission bar is disposed in the second installation chamber and connected between the active rotating part and the driven rotating part.

[0012] Further, the extension section includes a first extension section and a second extension section, the lengths of the first extension section and the second extension section both extend along the first direction, the first extension section and the second extension section are respectively located at opposite ends of the connecting section to form the main body with a mounting opening; wherein, the first extension section and the second extension section are both provided with the second mounting chamber, the active rotating parts include two, the two active rotating parts are spaced apart in the first mounting chamber, the driven rotating parts include two, the second mounting chambers of the first extension section and the second extension section are both provided with the driven rotating parts on the side away from the first mounting chamber, and the opposite ends of the grinding body are rotatably mounted in the mounting opening through the two driven rotating parts.

[0013] Furthermore, the driving assembly comprises:

[0014] A driving shaft, wherein the driving shaft is connected to a driver and can rotate around its own axis when driven by the driver, wherein one end of the driving shaft away from the driver is installed in the first installation chamber and is located between the two active rotating parts;

[0015] A first bevel gear, wherein the first bevel gear comprises two first bevel gears, and the two first bevel gears are fixed to one end of the driving shaft located in the first mounting chamber at an interval;

[0016] The active rotating part comprises:

[0017] A first rotating shaft, which can rotate around its own axis, and is installed in the first installation chamber and located at a side of the first installation chamber close to the second installation chamber;

[0018] The second bevel gear is fixed on the first rotating shaft, and the two first bevel gears are respectively meshed with the two second bevel gears of the active rotating parts.

[0019] Furthermore, the driven rotating part comprises:

[0020] A second rotating shaft, which can rotate around its own axis, is installed at a side of the second installation chamber away from the first installation chamber and is fixedly connected to the grinding body;

[0021] A first tensioning wheel, wherein the first tensioning wheel is fixed in the second mounting chamber through the second rotating shaft;

[0022] The active rotating part also includes:

[0023] The second tensioning wheel is fixed to one end of the driving shaft away from the first bevel gear and is located at the connection point between the first installation chamber and the second installation chamber. The closed-loop transmission strip tensioning sleeve is arranged on the first tensioning wheel and the second tensioning wheel.

[0024] Furthermore, the main body also includes a third extension section, which is located on a side of the connecting section away from the mounting opening and extends in the opposite direction of the first direction. The third extension section is provided with a third mounting chamber, and the third mounting chamber is connected to the first mounting chamber. The part of the drive shaft located outside the first mounting chamber can be rotatably inserted into the third mounting chamber.

[0025] Furthermore, the closed-loop transmission strip includes any one of a closed-loop transmission rope, a closed-loop transmission chain, and a closed-loop transmission belt.

[0026] Furthermore, the grinding body is provided with a plurality of grinding edges, the plurality of grinding edges are arranged as a plurality of spiral blade strips, the plurality of spiral blade strips are parallel to each other and surround the surface of the grinding body in the same direction to form a grinding surface with a grid structure.

[0027] Furthermore, the grinding surface is a concave arc surface or a convex arc surface.

[0028] According to another aspect of the present application, a surgical robot is provided, on which the osteotomy device is provided.

[0029] The osteotomy device provided in the present application drives the grinding body to rotate and grind on the affected part of the bone through a driving mechanism, and then grinds out an arcuate bone cross section along a predetermined path. The arcuate bone cross section is formed by grinding in one step, and there is no need to divide the osteotomy into multiple steps and / or cooperate with a guide device to perform the osteotomy operation. The operation is convenient, and the fine grinding of the bone cross section can be achieved, and the grinding is accurate and the osteotomy efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] Figure 1 A schematic diagram of the structure of an osteotomy device provided in one embodiment of the utility model;

[0032] Figure 2 for Figure 1 Schematic diagram of the internal assembly of the osteotomy device;

[0033] Figure 3 for Figure 2 Schematic diagram of the connection structure between the drive component and the transmission component.

[0034] The above drawings include the following reference numerals:

[0035] 10. Main body; 11. Connecting section; 111. First mounting chamber; 12. First extension section; 13. Second extension section; 121. Second mounting chamber; 122. Mounting opening; 14. Third extension section; 141. Third mounting chamber; 20. Grinding body; 21. Grinding blade; 22. Spiral blade strip; 23. Grinding surface; 24. Lightening hole; 30. Transmission assembly; 31. Active rotating part; 311. First rotating shaft; 312. Second bevel gear; 313. Second tensioning wheel; 32. Driven rotating part; 321. Second rotating shaft; 322. First tensioning wheel; 33. Closed-loop transmission rope; 40. Driving assembly; 41. Driving shaft; 42. First bevel gear; 43. Power adapter; 50. Bearing. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0039] In order to solve the problem that an arc-shaped bone cross section cannot be cut out during osteotomy of a bone affected part, the first embodiment of the utility model provides an osteotomy device, such as Figure 1 As shown, the osteotomy device includes a main body 10, a grinding body 20 and a driving mechanism. The grinding body 20 is rotatably mounted on the main body 10, and the grinding body 20 is at least used to rotate and grind the bone affected part along a predetermined path to produce an arc-shaped bone cross section that matches the replacement prosthesis. The driving mechanism includes a driving assembly 40 and a transmission assembly 30, wherein the transmission assembly 30 is mounted on the main body 10 and is located between the driving assembly 40 and the grinding body 20, and the transmission assembly 30 drives the grinding body 20 to rotate under the drive of the driving assembly 40. Thus, the grinding body 20 can grind the bone affected part during the rotation process, and during operation, the grinding can be performed along the predetermined path according to the required arc-shaped bone cross section. During the grinding process, each position of the arc-shaped bone cross section can be finely ground and lubricated to avoid local deviation or roughness of the bone cross section that affects the installation effect of the replacement prosthesis, and the grinding is accurate and easy to operate.

[0040] It can be seen that the osteotomy device provided in the embodiment of the utility model drives the grinding body 20 to rotate and grind on the bone affected part through the driving mechanism, and then grinds out an arcuate bone cross section along a predetermined path. The arcuate bone cross section is formed by grinding in one step, and there is no need to divide the osteotomy into multiple steps and / or cooperate with a guide device to perform the osteotomy operation. The operation is convenient, and the fine grinding of the bone cross section can be achieved, and the grinding is accurate and the osteotomy efficiency is high.

[0041] The main body 10 of the osteotomy device includes a connecting section 11 and an extension section connected to each other. The length of the extension section is along a first direction (the first direction is Figure 1 The connecting section 11 is provided with a first installation chamber 111, and the extending section is provided with a second installation chamber 121. The second installation chamber 121 extends along the length direction of the extending section and communicates with the first installation chamber 111 at the connection between the connecting section 11 and the extending section. Figure 2 As shown, the transmission assembly 30 of the driving mechanism includes an active rotating part 31 and a driven rotating part 32. The active rotating part 31 is arranged in the first installation chamber 111 and rotates under the drive of the driving assembly 40. The driven rotating part 32 is arranged on the side of the second installation chamber 121 away from the first installation chamber 111. The grinding body 20 is rotatably mounted on the extension section through the driven rotating part 32, that is, the grinding body 20 is rotatably mounted on the end of the extension section away from the connecting section 11. The closed-loop transmission bar is arranged in the second installation chamber 121 and connected between the active rotating part 31 and the driven rotating part 32. When the active rotating part 31 rotates under the drive of the driving assembly 40, the closed-loop transmission bar transfers the rotational kinetic energy of the active rotating part 31 to the driven rotating part 32, so that the driven rotating part 32 drives the grinding body 20 to perform a rotational grinding osteotomy operation.

[0042] In the embodiment of the utility model, the active rotating part 31 and the driven rotating part 32 are separated by the setting of the extension section and the closed-loop transmission strip, and the grinding body 20 is rotatably connected to the end of the extension section by the driven rotating part 32 located at the end of the extension section away from the connecting section 11, so that the volume of the grinding body 20 of the osteotomy device and the end of the extension section where it is located can be made smaller. Therefore, the size of the grinding body 20 of the osteotomy device and the end of the extension section where it is located meets the use requirements of narrow or even minimally invasive surgical environments (such as the knee joint), and the grinding body 20 can be inserted into a narrow or even minimally invasive surgical environment to accurately perform osteotomy on the bone affected part. Before the osteotomy operation, only a small surgical wound needs to be opened on the patient's affected part, which reduces the pain and inconvenience caused to the patient by the excessively large surgical wound, and is conducive to the rapid recovery of the surgical wound.

[0043] like Figure 1As shown, the extension section includes a first extension section 12 and a second extension section 13, the lengths of which are both extended along the first direction, and the first extension section 12 and the second extension section 13 are respectively located at opposite ends of the connecting section 11 to form a main body 10 having a mounting opening 122. The first extension section 12 and the second extension section 13 are both provided with a second mounting chamber 121, and the active rotating parts 31 include two, and the two active rotating parts 31 are arranged in the first mounting chamber 111 at intervals. The driven rotating parts 32 include two, and the second mounting chambers 121 of the first extension section 12 and the second extension section 13 are both provided with a driven rotating part 32 on one side away from the first mounting chamber 111, and the opposite ends of the grinding body 20 are rotatably mounted in the mounting opening 122 through the two driven rotating parts 32. Therefore, the embodiment of the utility model ensures that the volume of the grinding body 20 and the extension section where it is located is made smaller to meet the use requirements of narrow or even minimally invasive surgical environments. At the same time, two active rotating parts 31 are installed in the first installation chamber 111 of the connecting section 11. The two active rotating parts 31 drive the grinding body 20 connected to the driven rotating part 32 to rotate, making the rotation grinding process of the grinding body 20 more stable, reliable and powerful. The first extension section 12 and the second extension section 13 can be extended to a certain length according to the requirements of the surgical operation, so as to separate the grinding body 20 and the connecting section 11. The connecting section 11 has a compact structure and high space utilization. The grinding body 20 and the installation opening 122 where it is located can be inserted into a narrow or even minimally invasive surgical environment to grind and osteotomize the bone affected area.

[0044] like Figure 3As shown, the driving assembly 40 in the embodiment of the utility model includes a driving shaft 41 and a first bevel gear 42. The driving shaft 41 is connected to a driver, and the driving shaft 41 can rotate around its own axis when driven by the driver. The end of the driving shaft 41 away from the driver is installed in the first installation chamber 111 of the connecting section 11 and is located between the two active rotating parts 31. The first bevel gear 42 includes two, and the two first bevel gears 42 are fixed at intervals at one end of the driving shaft 41 located in the first installation chamber 111. The active rotating part 31 includes a first rotating shaft 311 and a second bevel gear 312. The first rotating shaft 311 can rotate around its own axis. The first rotating shaft 311 is installed in the first installation chamber 111 through a bearing 50 and is located on the side of the first installation chamber 111 close to the second installation chamber 121. The second bevel gear 312 is fixed on the first rotating shaft 311, and the two first bevel gears 42 are respectively meshed with the second bevel gears 312 of the two active rotating parts 31. Therefore, if the drive shaft 41 rotates around its own axis in the second direction (the second direction is the clockwise direction as shown in the figure, and of course the second direction can also be the counterclockwise direction), the first bevel gear 42 on the drive shaft 41 drives the corresponding second bevel gear 312 to rotate clockwise or counterclockwise. At this time, the closed-loop transmission strips in the first extension section 12 and the second extension section 13 drive the driven rotating parts 32 at both ends of the grinding body 20 to rotate clockwise or counterclockwise at the same time, thus realizing the clockwise or counterclockwise rotation grinding operation of the grinding body 20 on the osteotomy device. In addition, the embodiment of the utility model realizes dual driving of the grinding body 20 through the two first bevel gears 42 on the drive shaft 41, which can provide greater torque for the active rotating parts 31 on both sides of the drive shaft 41, so that the grinding body 20 obtains stronger rotational power, and the main body 10 has a compact and firm structure.

[0045] like Figure 3As shown, the driven rotating part 32 provided in the embodiment of the utility model includes a second rotating shaft 321 and a first tensioning wheel 322. The second rotating shaft 321 can rotate around its own axis under the drive of the active rotating part 31. The second rotating shaft 321 is installed on the side of the second installation chamber 121 away from the first installation chamber 111 through a bearing 50 and is fixedly connected to the grinding body 20. The first tensioning wheel 322 is fixed in the second installation chamber 121 through the second rotating shaft 321. The grinding body 20 is provided with connecting shafts at the opposite ends along its own axial direction. The grinding body 20 is fixedly connected to the second rotating shaft 321 of the driven rotating part 32 through the connecting shaft. The active rotating part 31 also includes a second tensioning wheel 313, which is fixed to one end of the driving shaft 41 away from the first bevel gear 42 and is located at the connection between the first installation chamber 111 and the second installation chamber 121. The closed-loop transmission strip tensioning sleeve is arranged on the first tensioning wheel 322 and the second tensioning wheel 313. Therefore, the embodiment of the utility model transmits the rotational kinetic energy of the active rotating part 31 to the driven rotating part 32 through the closed-loop transmission strips mounted on the first tensioning wheel 322 and the second tensioning wheel 313 , and the grinding body 20 can rotate under the drive of the driven rotating part 32 .

[0046] The closed loop transmission strip in the embodiment of the utility model includes any one of a closed loop transmission rope 33, a closed loop transmission chain, and a closed loop transmission belt. Figure 2 and Figure 3 As shown, the embodiment of the utility model preferably uses a closed loop transmission rope 33. The closed loop transmission rope 33 can be lighter and smaller in size than a closed loop transmission chain and a closed loop transmission belt. Therefore, after the closed loop transmission rope 33 is installed in the extension section of the osteotomy device body 10, the volume and mass of the extension section are greatly reduced, and it is suitable for narrow or even minimally invasive surgical environments. The closed loop transmission rope 33 transmits the rotational power of the active rotating part 31 to the driven rotating part 32 through the friction between it and the first tensioning wheel 322 and the second tensioning wheel 313, so as to realize the long-distance transmission of the rotational kinetic energy to the grinding body 20, and at the same time, it can protect the driving mechanism from overload, thereby avoiding the damage to the active rotating part 31 and the driving mechanism when the grinding part is blocked during the grinding process.

[0047] The main body 10 also includes a third extension section 14, which is located on a side of the connecting section 11 away from the installation opening 122 and extends in the opposite direction of the first direction. The third extension section 14 is provided with a third installation chamber 141, and the third installation chamber 141 is connected to the first installation chamber 111. The part of the drive shaft 41 located outside the first installation chamber 111 can be rotatably passed through the third installation chamber 141. This prevents external objects from interfering with the drive shaft 41 during the osteotomy operation and affecting the working performance of the drive shaft 41. Specifically, a power adapter 43 is provided at one end of the drive shaft 41 away from the first installation chamber 111. The power adapter 43 is located outside the third extension section 14. The drive shaft 41 can be connected to a driver through the power adapter 43. The driver can be a motor or a power drive unit on the mechanical arm of the surgical robot. The driving shaft 41 is rotatably mounted in the first mounting chamber 111 and the third mounting chamber 141 via bearings 50 , wherein there are two bearings 50 for mounting the driving shaft 41 , one located in the first mounting chamber 111 and the other located in the third mounting chamber 141 .

[0048] The grinding body 20 in the embodiment of the utility model is provided with a plurality of grinding edges 21, and the plurality of grinding edges 21 are arranged as a plurality of spiral blade strips 22, and the plurality of spiral blade strips 22 are parallel to each other and surround the surface of the grinding body 20 in the same direction to form a grinding surface 23 with a grid structure. Thus, during the rotation process of the grinding body 20, the bone affected part is subjected to rotational grinding through the grinding surface 23, and the grinding process is efficient and accurate. Moreover, in order to reduce the weight of the grinding body 20 and ensure that the grinding body 20 can rotate at a high speed under the drive of the driving mechanism, a plurality of weight-reducing holes 24 are also provided on the grinding body 20.

[0049] In addition, since some replacement prostheses have a convex structure or a concave structure on the arc side that matches the arc-shaped bone cross section, the grinding surface 23 in the present invention is set as a concave arc surface (such as Figure 3 The concave arc surface shown in the figure is matched with the arc of the concave structure of the replacement prosthesis, so that the arc-shaped bone section formed by the rotation and grinding of the grinding body 20 is formed with a convex part that is matched with the concave structure. The convex arc surface is matched with the convex structure of the replacement prosthesis. Under this structure, the arc-shaped bone section formed by the rotation and grinding of the grinding body 20 is formed with a concave part that is matched with the convex structure, thereby increasing the contact area between the replacement prosthesis and the arc-shaped bone section, making the replacement prosthesis more stably and fittingly installed on the arc-shaped bone section, and achieving better postoperative rehabilitation effect.

[0050] The second embodiment of the utility model further provides a surgical robot, on which the osteotomy device provided by the first embodiment of the utility model is disposed. Specifically, a power drive unit is disposed on the mechanical arm of the surgical robot, and the osteotomy device is connected to the power drive unit via a power adapter 43 on its drive shaft 41. After the arc motion trajectory of the mechanical arm of the surgical robot is set, the mechanical arm drives the grinding body 20 of the osteotomy device to rotate and grind out the expected arc bone cross section, and the osteotomy operation is completed in one step, and the grinding is accurate and efficient.

[0051] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0052] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0053] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An osteotomy device, characterized in that: include: Subject (10); A grinding body (20), the grinding body (20) being rotatably mounted on the main body (10), the grinding body (20) being used at least to rotate and grind an arc-shaped bone cross section that matches a replacement prosthesis at a bone affected part along a predetermined path; The driving mechanism comprises a driving assembly (40) and a transmission assembly (30), wherein the transmission assembly (30) is mounted on the main body (10) and is located between the driving assembly (40) and the grinding body (20), and the transmission assembly (30) drives the grinding body (20) to rotate under the drive of the driving assembly (40).

2. The osteotomy device according to claim 1, characterized in that: The main body (10) comprises a connecting section (11) and an extending section which are connected to each other, the length of the extending section extending along a first direction, a first installation chamber (111) being provided in the connecting section (11), a second installation chamber (121) being provided in the extending section, and the second installation chamber (121) extending along the length direction of the extending section and communicating with the first installation chamber (111) at a connection between the connecting section (11) and the extending section, and the transmission assembly (30) comprising: an active rotating part (31), the active rotating part (31) being arranged in the first installation chamber (111) and rotating under the drive of the driving assembly (40); A driven rotating part (32), the driven rotating part (32) being arranged on a side of the second installation chamber (121) away from the first installation chamber (111), and the grinding body (20) being rotatably mounted on the extension section via the driven rotating part (32); A closed-loop transmission bar is disposed in the second installation chamber (121) and connected between the active rotating part (31) and the driven rotating part (32).

3. The osteotomy device according to claim 2, characterized in that: The extension section comprises a first extension section (12) and a second extension section (13), the lengths of the first extension section (12) and the second extension section (13) both extend along the first direction, the first extension section (12) and the second extension section (13) are respectively located at opposite ends of the connecting section (11) to form the main body (10) having a mounting opening (122); wherein the first extension section (12) and the second extension section (13) are both provided with the second mounting chamber (121), and the active rotating The grinding body (20) comprises two active rotating parts (31), the two active rotating parts (31) are arranged at intervals in the first installation chamber (111), the driven rotating parts (32) comprise two, the driven rotating parts (32) are arranged on the side of the second installation chamber (121) of the first extension section (12) and the second extension section (13) away from the first installation chamber (111), and the opposite ends of the grinding body (20) are rotatably mounted in the installation opening (122) through the two driven rotating parts (32).

4. The osteotomy device according to claim 3, characterized in that: The driving assembly (40) comprises: a driving shaft (41), the driving shaft (41) being connected to a driver, the driving shaft (41) being capable of rotating around its own axis when driven by the driver, the end of the driving shaft (41) being away from the driver being installed in the first installation chamber (111) and being located between the two active rotating parts (31); A first bevel gear (42), wherein the first bevel gear (42) comprises two first bevel gears (42), and the two first bevel gears (42) are fixed to the driving shaft (41) at one end thereof located in the first mounting chamber (111) at an interval; The active rotating part (31) comprises: A first rotating shaft (311), the first rotating shaft (311) being rotatable around its own axis, the first rotating shaft (311) being installed in the first installation chamber (111) and being located on a side of the first installation chamber (111) close to the second installation chamber (121); A second bevel gear (312), wherein the second bevel gear (312) is fixed on the first rotating shaft (311), and the two first bevel gears (42) are respectively meshed with the second bevel gears (312) of the two active rotating parts (31).

5. The osteotomy device according to claim 4, characterized in that: The driven rotating part (32) comprises: A second rotating shaft (321), the second rotating shaft (321) can rotate around its own axis, the second rotating shaft (321) is installed on a side of the second installation chamber (121) away from the first installation chamber (111) and is fixedly connected to the grinding body (20); A first tensioning wheel (322), wherein the first tensioning wheel (322) is fixed in the second installation chamber (121) via the second rotating shaft (321); The active rotating part (31) further comprises: A second tensioning wheel (313), the second tensioning wheel (313) is fixed to one end of the driving shaft (41) away from the first bevel gear (42), and is located at the connection point between the first installation chamber (111) and the second installation chamber (121), and the closed-loop transmission strip tensioning sleeve is arranged on the first tensioning wheel (322) and the second tensioning wheel (313).

6. The osteotomy device according to claim 4, characterized in that: The main body (10) further comprises a third extension section (14), the third extension section (14) being located on a side of the connecting section (11) away from the mounting opening (122) and extending in a direction opposite to the first direction, the third extension section (14) being provided with a third mounting chamber (141), and the third mounting chamber (141) being connected to the first mounting chamber (111), and a portion of the drive shaft (41) located outside the first mounting chamber (111) being rotatably arranged in the third mounting chamber (141).

7. The osteotomy device according to any one of claims 2 to 4, characterized in that: The closed loop transmission strip comprises any one of a closed loop transmission rope (33), a closed loop transmission chain, and a closed loop transmission belt.

8. The osteotomy device according to any one of claims 1 to 6, characterized in that: The grinding body (20) is provided with a plurality of grinding edges (21), the plurality of grinding edges (21) are arranged to form a plurality of spiral blade strips (22), the plurality of spiral blade strips (22) are parallel to each other and surround the surface of the grinding body (20) in the same direction to form a grinding surface (23) with a grid structure.

9. The osteotomy device according to claim 8, characterized in that: The grinding surface (23) is a concave arc surface or a convex arc surface.

10. A surgical robot, characterized in that: The surgical robot is provided with the osteotomy device according to any one of claims 1 to 9.

Images