Operation guiding tool and operation robot

Abstract

The utility model provides an operation guiding tool and an operation robot, and the operation guiding tool comprises a first plate body which is provided with a first guiding through hole and a first guiding groove; the guide structure is fixedly connected with the first plate body and is provided with a second guide through hole and a second guide groove which penetrate through the guide structure; the second guide through hole corresponds to the first guide through hole; the second guide groove and the first guide groove are correspondingly arranged, the second guide groove is used for abutting against a second appliance, and the second appliance swings in the second guide groove; the second plate body is arranged on one side of the guide structure and connected with the guide structure and the first plate body, a third guide groove is formed between the second plate body and the guide structure and used for abutting against a third appliance, and the third appliance reciprocates in the third guide groove. The operation guiding tool solves the technical problems that in the prior art, operation guiding tools are various in composition and need to be replaced frequently.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical guidance, in particular to a surgical guidance tool and a surgical robot. Background Art

[0002] The traditional unicompartmental knee replacement surgery process and surgical tools are very complicated: first, traditional surgical instruments are composed of many parts, the operation is complicated and time-consuming, surgical assistants need a long learning curve, and they need to be repeatedly disassembled, cleaned and disinfected before and after use, occupying more operating room space, which not only increases hospital costs but also increases operating room workload; secondly, repeated use of instruments may cause damage and inaccurate measurement and positioning, resulting in surgical operation errors and thus reduced accuracy; thirdly, the operation time is significantly increased, and the risks of tourniquet complications, blood loss, contamination, anesthesia complications, etc. are increased.

[0003] Therefore, the prior art needs to be further developed. Utility Model Content

[0004] The purpose of the present invention is to overcome the above technical deficiencies and provide a surgical guide tool and a surgical robot to solve the technical problem in the related art that surgical guide tools have a variety of components and need to be frequently replaced.

[0005] In order to achieve the above-mentioned technical objectives, the utility model adopts the following technical solutions: a surgical guide tool is provided, including: a first plate body, a first guide through hole and a first guide groove are arranged on the first plate body; a guide structure, the guide structure is fixedly connected to the first plate body, the guide structure has a second guide through hole and a second guide groove which are arranged through the guide structure; the second guide through hole is arranged corresponding to the first guide through hole, and the second guide through hole has a first limiting surface for abutting against the first instrument, and the first limiting surface is an arc surface; the second guide groove is arranged corresponding to the first guide groove, the second guide groove is used to abut against the second instrument, and the second instrument swings in the second guide groove; a second plate body, the second plate body is arranged on one side of the guide structure, the second plate body is connected to both the guide structure and the first plate body, a third guide groove is arranged between the second plate body and the guide structure, the third guide groove is used to abut against the third instrument, and the third instrument reciprocates in the third guide groove.

[0006] Furthermore, there are multiple second guide through holes, and the multiple second guide through holes are arranged on the guide structure at intervals, and the multiple second guide through holes are all cylindrical structures, and the multiple second guide through holes all extend in a direction close to the first plate body; there are multiple first guide through holes, and the multiple first guide through holes and the multiple second guide through holes are arranged correspondingly.

[0007] Furthermore, the guide structure includes a third guide through hole arranged through the guide structure, the third guide through hole has a third limiting surface for abutting against the first device, and the third limiting surface is an arc surface; the third guide through hole is a cylindrical structure, and the third guide through hole extends in a direction close to the second guide groove.

[0008] Furthermore, there are a plurality of third guide through holes, the plurality of third guide through holes are arranged at intervals, and the axes of the plurality of third guide through holes are parallel.

[0009] Furthermore, the guide structure includes a fourth guide groove which is arranged through the guide structure, and the fourth guide groove abuts against the second device; the axes of the fourth guide groove passing through the second guide through hole, the first guide groove passing through the third guide through hole are all parallel.

[0010] Furthermore, chamfered structures are provided at both end openings of the second guide through hole, the second guide groove, the third guide through hole and the fourth guide groove.

[0011] Furthermore, a first connecting plate body is arranged in the third guide groove, the first connecting plate body is located between the fourth limiting surface and the first guide surface, and the first connecting plate body is used to connect the second plate body and the guide structure.

[0012] Furthermore, the surgical guide tool also includes a third plate body, which is arranged on a side of the guide structure away from the second plate body, the third plate body is connected to both the guide structure and the first plate body, a fifth guide groove is arranged between the third plate body and the guide structure, the fifth guide groove has a second guide surface for abutting against the third tool, and the second guide surface is a plane. A chamfer structure is arranged at the opening of the third guide groove.

[0013] Furthermore, a second connecting plate is arranged in the fifth guide groove, the second connecting plate is arranged on a side of the second guide surface away from the fifth guide groove, and the second connecting plate is used to connect the third plate and the guide structure. A chamfer structure is arranged at the opening of the fifth guide groove.

[0014] A surgical robot comprises: the above-mentioned surgical guide tool; a robotic arm having a connecting structure, the connecting structure being connected to the surgical guide tool, and the robotic arm being used to drive the surgical guide tool to move; and a control module, the control module being connected to the robotic arm signal, and the control module being used to control the movement of the robotic arm.

[0015] Further, the connecting structure is connected to the second plate body; and / or; the connecting structure is connected to the third plate body, and the third plate body is arranged on a side of the guide structure away from the second plate body.

[0016] Beneficial effects:

[0017] 1. The surgical guide tool of the utility model combines the medial and lateral tibial osteotomy plates and the medial and lateral femoral osteotomy plates and combines them with a robot to assist surgery. Through structural innovation, a multifunctional combination of medial and lateral tibial osteotomy plates, medial and lateral multi-specification femoral osteotomy plates, and a drilling guide frame is realized. In unicompartmental knee replacement surgery, precise guidance of oscillating saws and reciprocating saws for osteotomy and precise guidance of drill drilling is achieved.

[0018] 2. The surgical guide tool of the utility model has accurate positioning and simple structure, and realizes the technical effects of simplifying the surgical process, shortening the use time, and being easy to use and clean. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of a surgical guide tool used in an embodiment of the utility model;

[0020] Figure 2 It is a bottom view of the surgical guide tool used in the embodiment of the utility model;

[0021] Figure 3 yes Figure 2 Cross-sectional view along AA direction;

[0022] Figure 4 is a top view of a surgical guide tool used in an embodiment of the utility model;

[0023] Figure 5 yes Figure 4 Cross-sectional view along direction BB;

[0024] Figure 6 It is a schematic diagram of the structure of the surgical robot used in the embodiment of the utility model.

[0025] The above drawings include the following reference numerals:

[0026] 1. First plate; 11. First guide through hole; 12. First guide groove; 2. Guide structure; 21. Second guide through hole; 211. First limiting surface; 22. Second guide groove; 23. Third guide through hole; 231. Third limiting surface; 24. Fourth guide groove; 3. Second plate; 31. Third guide groove; 311. First connecting plate; 4. Third plate; 41. Fifth guide groove; 411. Second connecting plate; 5. Robotic arm. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] According to an embodiment of the present utility model, a surgical guide tool is provided. Figures 1 to 6 , including: a first plate body 1, on which a first guide through hole 11 and a first guide groove 12 are provided; a guide structure 2, which is fixedly connected to the first plate body 1, and has a second guide through hole 21 and a second guide groove 22 that penetrate the guide structure 2; the second guide through hole 21 is arranged corresponding to the first guide through hole 11, and the second guide through hole 21 has a first limiting surface 211 for abutting against the first tool, and the first limiting surface 211 is an arc surface; the second guide groove 22 is arranged corresponding to the first guide groove 12, and the second guide groove 22 is used to abut against the second tool, and the second tool swings in the second guide groove 22; a second plate body 3, which is arranged on one side of the guide structure 2, and the second plate body 3 is connected to both the guide structure 2 and the first plate body 1, and a third guide groove 31 is arranged between the second plate body 3 and the guide structure 2, and the third guide groove 31 is used to abut against the third tool, and the third tool reciprocates in the third guide groove 31.

[0029] With the above arrangement, the second guide through hole 21 with an arc-shaped inner side can guide cylindrical instruments such as drill bits, the second guide groove 22 can guide instruments such as swinging saws, and the third guide groove 31 can guide instruments that require an incision such as reciprocating saws. Multiple guide tools are combined into one, which simplifies the structure of the guide tools, achieves precise guidance of different instruments, simplifies the use process of the instruments, shortens the use time, and achieves the technical effect of easy use and easy cleaning, solving the technical problem in the related art that surgical guide tools are composed of many components and need to be frequently replaced.

[0030] Preferably, the first tool is a drill, the second tool is an oscillating saw, and the third tool is a reciprocating saw.

[0031] Specifically, the surgical guide tool of this embodiment mainly consists of the second guide groove 22 as the oscillating saw osteotomy guide groove, the third guide groove 31 as the reciprocating saw osteotomy guide groove, and the second guide through hole 21 as the drill guide hole. The three together constitute the main body of the surgical guide tool, wherein the oscillating saw guide groove can be used with the oscillating saw to achieve osteotomy of the femur and tibia planes, and the reciprocating saw guide groove can be used with the reciprocating saw to achieve osteotomy of the tibial wall. The left reciprocating saw guide groove or the right reciprocating saw guide groove is selected according to the specific surgical position. The drill guide hole can be used with different drill bits / limiting nails to realize the function of prefabricating safety protection nails at the intersection of the tibial platform and the tibial osteotomy wall, and can realize the drilling of femoral prosthesis posts / columns, and can realize the drilling of tibial prosthesis posts / columns.

[0032] In the surgical guide tool of this embodiment, see Figure 1 There are multiple second guide holes 21, which are arranged on the guide structure 2 at intervals, and all of the multiple second guide holes 21 are cylindrical structures, and the axes of the multiple second guide holes 21 are parallel; there are multiple first guide holes 11, and the multiple first guide holes 11 and the multiple second guide holes 21 are arranged correspondingly. In this way, the multiple second guide holes 21 can facilitate the drill bit to drill from multiple positions without moving the guide tool, simplifying the surgical process.

[0033] Preferably, the axes of the plurality of second guide through holes 21 may be at an angle of 90° / 180° or other angles. By combining a plurality of angles, the drilling direction of the drill bit is increased, the direction or position of the target tool can be quickly switched during use, and the adjustment range of the guide tool can be reduced.

[0034] Preferably, the positions of the third guide groove 31 and the second guide through hole 21 are interchangeable to adapt to different cutting positions of the drill bit and the reciprocating saw in different surgeries, thereby achieving the effect of reducing the adjustment range of the guide tool.

[0035] Embodiment 1:

[0036] In unicompartmental knee replacement surgery, there are two second guide through holes 21. In the present embodiment, the two second guide through holes 21 are respectively arranged on both sides of the guide structure 2. In this way, the patella can be better positioned, the surgical operation can be more convenient, and the medial osteotomy and lateral osteotomy of the unicompartmental knee surgery can share the same guide tool.

[0037] Embodiment 2:

[0038] In other surgeries, the second guide hole 21 can also be located in the middle part of the multifunctional osteotomy module body. In this way, the effect of increasing the drilling direction of the drill bit can be achieved. During use, the direction or position of the target tool can be quickly switched, reducing the adjustment range of the guide tool.

[0039] In the surgical guide tool of this embodiment, see Figures 1 to 3 The guide structure 2 includes a third guide through hole 23 which is arranged through the guide structure 2 . The third guide through hole 23 has a third limiting surface 231 which is used to abut against the first device. The third limiting surface 231 is an arc-shaped surface. The third guide through hole 23 passes through the second guide through hole 21 .

[0040] In the surgical guide tool of this embodiment, see Figure 1 There are multiple third guide holes 23, and the multiple third guide holes 23 are arranged at intervals. In this way, the multiple third guide holes 23 can increase the drilling direction of the drill bit through the combination of multiple angles, and the direction or position of the target tool can be quickly switched during use, which can reduce the adjustment range of the guide tool.

[0041] Preferably, the axes of the plurality of third guide through holes 23 and the axis of the second guide through hole 21 form an angle of 90° or other angles.

[0042] Preferably, there is an angle or parallelism between the axes of the multiple third guide through holes 23, and the extension directions of the multiple third guide through holes 23 are different, which can increase the drilling direction of the drill bit. The direction or position of the target tool can be quickly switched during use, and the adjustment range of the guide tool can be reduced.

[0043] Embodiment 3:

[0044] In unicompartmental knee replacement surgery, there are two third guide holes 23, which are respectively arranged on both sides of the guide structure 2. In this way, the patella can be better positioned, the surgical operation is more convenient, and the medial osteotomy and lateral osteotomy of the unicompartmental knee surgery can share the same guide tool.

[0045] Embodiment 4:

[0046] In unicompartmental knee replacement surgery, there are two third guide holes 23, and the third guide holes 23 are respectively arranged in the middle of the guide structure 2. In this way, the effect of increasing the drilling direction of the drill bit can be achieved. During use, the direction or position of the target tool can be quickly switched, reducing the adjustment range of the guide tool.

[0047] In the surgical guide tool of this embodiment, see Figures 1 to 3The guide structure 2 includes a fourth guide groove 24 that penetrates the guide structure 2, and the fourth guide groove 24 abuts against the second tool; the fourth guide groove 24 passes through the second guide through hole 21; and / or the fourth guide groove 24 passes through the second guide groove 22. Preferably, there is a 90° angle or other angles between the fourth guide groove 24 and the second guide groove 22, and the osteotomy direction of the oscillating saw is increased by combining different angles, and the direction or position of the target tool can be quickly switched during use, which can reduce the range of motion of the robot arm.

[0048] In the surgical guide tool of this embodiment, see Figures 1 to 5 The second guide hole 21, the second guide groove 22, the third guide hole 23 and the fourth guide groove 24 are all provided with chamfered structures at both ends of the opening. In this way, the chamfered structure can prevent the surgical instrument from curling after contacting the guide channel, thereby extending the service life of the surgical instrument and the guide tool.

[0049] In the surgical guide tool of this embodiment, see Figures 4 to 5 The third guide groove 31 is provided with a first connecting plate 311, which is used to connect the second plate 3 and the guide structure 2, and the first connecting plate 311 abuts against the third device. In this way, the first connecting plate 311 can not only connect the second plate 3 and the guide structure 2, but also serve as a limit plate of the reciprocating saw, so that the reciprocating saw can reciprocate in the third guide groove 31.

[0050] In the surgical guide tool of this embodiment, see Figures 4 to 5 The surgical guide tool also includes a third plate body 4, which is arranged on a side of the guide structure 2 away from the second plate body 3, and the third plate body 4 is connected to the guide structure 2 and the first plate body 1. A fifth guide groove 41 is arranged between the third plate body 4 and the guide structure 2, and the fifth guide groove 41 abuts against the third tool, and the third tool reciprocates in the fifth guide groove 41. In this way, the plane where the third guide groove 31 is located and the plane where the fifth guide groove 41 is located are at an angle of 90° or other angles. By increasing the direction of the osteotomy groove by combining two angles, the direction or position of the target tool can be quickly switched during use, and the movement range of the robot arm can be reduced.

[0051] Preferably, the third guide groove 31 and the fifth guide groove 41 may be located at both ends of the guide structure 2 , or may be located in the middle of the guide structure 2 .

[0052] Embodiment 5:

[0053] Based on the characteristics of unicompartmental knee replacement surgery, the third guide groove 31 and the fifth guide groove 41 are located at both ends of the guide structure 2 to better make room for the patella, making surgical operations more convenient, and enabling the medial and lateral osteotomies of unicompartmental knee replacement surgery to share the same guide tool.

[0054] Embodiment 6:

[0055] In this embodiment, the third guide groove 31 and the fifth guide groove 41 are located in the middle of the guide structure 2, which can achieve the effect of increasing the cutting direction of the reciprocating saw. During use, the direction or position of the target tool can be quickly switched to reduce the adjustment range of the guide tool.

[0056] In the surgical guide tool of this embodiment, see Figures 4 to 5 A second connecting plate 411 is disposed in the fifth guide groove 41. The second connecting plate 411 is used to connect the third plate 4 and the guide structure 2. The second connecting plate 411 abuts against the third tool. In this way, the second connecting plate 411 can not only connect the third plate 4 and the guide structure 2, but also serve as a limit plate of the reciprocating saw, so that the reciprocating saw can reciprocate in the third guide groove 31.

[0057] A surgical robot, see Figure 6 The surgical robot includes: a surgical guide tool; a robotic arm 5, which is connected to the surgical guide tool and is used to drive the surgical guide tool to move; a control module, which is connected to the robotic arm 5 by signal and is used to control the movement of the robotic arm 5.

[0058] Preferably, a weight-reducing groove is provided on the robot arm 5 , which reduces the weight of the robot arm 5 and improves the flexibility of the robot arm 5 while ensuring the connection strength of the robot arm 5 .

[0059] Specifically, by connecting the surgical guide tool to the end of the robot's mechanical arm, the surgical robot host transmits motion instructions to the mechanical arm to achieve precise positioning of the osteotomy and drilling positions.

[0060] In the surgical robot of this embodiment, the connection structure is connected to the second plate body 3; and / or; the connection structure is connected to the third plate body 4, and the third plate body 4 is arranged on the side of the guide structure 2 away from the second plate body 3. In this way, the mechanical arm 5 can be connected to the left side of the surgical guide tool, and can also be connected to the right side of the surgical guide tool. Through the combination of multiple angles, the use direction of the surgical guide tool is increased, and the direction or position of the target tool can be quickly switched during use, which can reduce the movement range of the mechanical arm, so that the tracer has a better viewing angle in the space of the optical camera, thereby reducing the requirements for the posture of the robot mechanical arm.

[0061] Specifically, the traditional unicompartmental knee replacement surgery process and surgical tools are very complicated:

[0062] First, traditional surgical instruments have many components, and the operation is complicated and time-consuming. Surgical assistants need a long learning curve, and they need to be repeatedly disassembled, cleaned and disinfected before and after use, which takes up more space in the operating room, increasing not only the cost of the hospital, but also the workload of the operating room.

[0063] Secondly, repeated use of instruments may cause damage and inaccurate measurement and positioning, resulting in surgical operation errors and thus reduced accuracy. Thirdly, the operation time is significantly increased, and the risks of tourniquet complications, blood loss, contamination, anesthesia complications, etc. are increased.

[0064] The core tools of traditional unicompartmental knee replacement surgery are mainly divided into force line measurement tools, osteotomy amount measurement tools, medial and lateral tibial osteotomy plates, medial and lateral multi-specification femoral osteotomy plates, and prosthesis trial molds.

[0065] This embodiment combines the medial and lateral tibial osteotomy plates and the medial and lateral femoral osteotomy plates and combines them with robot-assisted surgery, thereby improving the accuracy and stability of the surgery and shortening the operation time.

[0066] The current surgical robot consists of a robotic arm, an optical camera and a host. The optical camera is equivalent to an eye. The spatial posture of the end of the robotic arm is obtained through a tracer fixed on the robotic arm. The host then transmits the motion command to the robotic arm, driving its end tool to accurately move to the surgical position of the patient, and then the doctor performs subsequent operations. Through structural innovation, the multifunctional combination of the second guide through hole 21, the second guide groove 22 and the third guide groove 31 can be achieved. In the unicompartmental knee replacement surgery, the osteotomy of the femoral tibial oscillating saw can be accurately guided, the osteotomy of the reciprocating saw of the medial tibial wall and the lateral tibial wall can be accurately guided, and the drilling of the drill bit can be accurately positioned. The structure is simple, the surgical process is simplified, the use time is shortened, and the use is convenient and easy to clean.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0068] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0069] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0070] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0071] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A surgical guide tool, characterized in that: include: A first plate body (1), wherein the first plate body (1) is provided with a first guide through hole (11) and a first guide groove (12); A guide structure (2), wherein the guide structure (2) is fixedly connected to the first plate body (1), and the guide structure (2) has a second guide through hole (21) and a second guide groove (22) which are arranged through the guide structure (2); the second guide through hole (21) is arranged corresponding to the first guide through hole (11), and the second guide through hole (21) has a first limiting surface (211) for abutting against a first tool, and the first limiting surface (211) is an arc surface; the second guide groove (22) is arranged corresponding to the first guide groove (12), and the second guide groove (22) is used to abut against a second tool, and the second tool swings in the second guide groove (22); A second plate body (3), the second plate body (3) is arranged on one side of the guide structure (2), the second plate body (3) is connected to both the guide structure (2) and the first plate body (1), a third guide groove (31) is arranged between the second plate body (3) and the guide structure (2), the third guide groove (31) is used to abut against a third tool, and the third tool reciprocates in the third guide groove (31).

2. The surgical guide tool according to claim 1, characterized in that: There are a plurality of the second guide through holes (21), the plurality of the second guide through holes (21) are arranged on the guide structure (2) at intervals, the plurality of the second guide through holes (21) are all cylindrical structures, and the axes of the plurality of the second guide through holes (21) are parallel; There are a plurality of the first guide through holes (11), and the plurality of the first guide through holes (11) and the plurality of the second guide through holes (21) are arranged correspondingly.

3. The surgical guide tool according to claim 1, characterized in that: The guide structure (2) comprises a third guide through hole (23) which is arranged through the guide structure (2); the third guide through hole (23) has a third limiting surface (231) for abutting against the first device; the third limiting surface (231) is an arcuate surface; the third guide through hole (23) passes through the second guide through hole (21).

4. The surgical guide tool according to claim 3, characterized in that: There are a plurality of the third guide through holes (23), the plurality of the third guide through holes (23) are arranged at intervals, and the axes of the plurality of the third guide through holes (23) are parallel.

5. The surgical guide tool according to claim 4, characterized in that: The guide structure (2) comprises a fourth guide groove (24) which is arranged through the guide structure (2), and the fourth guide groove (24) abuts against the second tool; The fourth guide groove (24) passes through the second guide through hole (21); and / or, The fourth guide groove (24) passes through the second guide groove (22).

6. The surgical guide tool according to claim 5, characterized in that: Chamfered structures are provided at both end openings of the second guide through hole (21), the second guide groove (22), the third guide through hole (23) and the fourth guide groove (24).

7. The surgical guide tool according to claim 5, characterized in that: A first connecting plate body (311) is arranged in the third guide groove (31), and the first connecting plate body (311) is used to connect the second plate body (3) and the guide structure (2). The first connecting plate body (311) abuts against the third device, and a chamfer structure is arranged at the opening of the third guide groove (31).

8. The surgical guide tool according to claim 1, characterized in that: The surgical guide tool also includes a third plate body (4), which is arranged on a side of the guide structure (2) away from the second plate body (3), and the third plate body (4) is connected to both the guide structure (2) and the first plate body (1). A fifth guide groove (41) is arranged between the third plate body (4) and the guide structure (2), and the fifth guide groove (41) is in contact with a third instrument, and the third instrument reciprocates in the fifth guide groove (41).

9. The surgical guide tool according to claim 8, characterized in that: A second connecting plate body (411) is arranged in the fifth guide groove (41), and the second connecting plate body (411) is used to connect the third plate body (4) and the guide structure (2). The second connecting plate body (411) abuts against the third device, and a chamfer structure is arranged at the opening of the fifth guide groove (41).

10. A surgical robot, characterized in that: The surgical robot comprises: The surgical guide tool according to any one of claims 1 to 9; A robotic arm (5), the robotic arm (5) having a connection structure, the connection structure being connected to the surgical guide tool, the robotic arm (5) being used to drive the surgical guide tool to move; A control module is connected to the mechanical arm (5) by signal, and is used to control the movement of the mechanical arm (5).

11. The surgical robot according to claim 10, characterized in that: The connecting structure is connected to the second plate body (3); and / or; The connection structure is connected to a third plate body (4), and the third plate body (4) is arranged on a side of the guide structure (2) away from the second plate body (3).

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