Variable bone hook and depth limiting minimally invasive spinal decompression surgical robot

Abstract

The utility model discloses a variable bone hook and depth limiting type spinal minimally invasive decompression operation robot belongs to medical instrument technical field. The robot passes through multiaxis mechanical arm drive guide connecting block, drives depth limiting equipment dynamic regulation cutting tool device and the working depth of detection device. Detection device adopts the variable bone hook structure of memory alloy bone hook subassembly or mechanical lever control, and cutting tool device retreats the knife, and through low temperature trigger mode switching or angle adjustment realizes safe separation, avoids secondary trauma. Cooperation elastic adjusting device real -time compensation vertebral plate outer surface safety height fluctuation, prevents the knife of cutting tool device and installs the knife and excessively invades the spinal canal. Control equipment coordinates multiaxis mechanical arm, guide motor and depth adjusting mechanism, realizes automatic positioning and dynamic limiting. The utility model has the functions of cutting tool safety feed, high accuracy positioning, self -adaptation depth compensation and safe knife withdrawal, can reduce minimally invasive spinal decompression operation risk.

Description

Technical Field

[0001] This utility model relates to a decompression surgical robot, and more particularly to a variable bone hook and depth-limiting minimally invasive spinal decompression surgical robot. Background Technology

[0002] In recent years, various spinal surgery robots with different functions and artificial intelligence technologies have been increasingly applied to the field of spinal surgery, promoting the rapid development of minimally invasive spinal surgery techniques.

[0003] Currently, the functions of this type of spinal surgery robot include spinal puncture biopsy, pedicle screw placement, and a certain degree of laminectomy decompression surgery. These functions are involved in different surgical procedures, such as total laminectomy, hemilaminectomy, artificial pedicle screw implantation and internal fixation, navigation pedicle screw implantation and internal fixation, discectomy and fusion, and endoscopic minimally invasive discectomy.

[0004] Currently, robots used for spinal decompression surgery can be broadly classified into two types:

[0005] 1. "Outside-in" decompression refers to grinding from the outer surface of the lamina to the inner surface (in the direction of the spinal canal). Pressure sensors are used to control the "cutting depth" of the orthopedic power tool (such as an ultrasonic scalpel, a miniature oscillating saw, or a grinding drill). When the pressure sensor indicates that the pressure of the orthopedic power tool on the lamina bone is less than a certain value, it is considered that the bone has been cut through. However, in reality, when the lamina bone quality is poor, the pressure sensor in the vertical direction cannot accurately reflect the pressure changes of the orthopedic power tool on the lamina bone, and therefore cannot accurately control the "cutting depth," posing certain risks. Furthermore, improper tool displacement is prone to occur, such as cutting too shallowly and failing to cut through, or cutting too deep into the spinal canal, sometimes requiring continuous manual visual observation to correct the "cutting depth."

[0006] For example, patent CN112494097B (Spine Laminar Plate Grinding Depth Adjustment Device) discloses a depth control method based on a pressure sensor, which determines whether the bone has been cut through by monitoring changes in the pressure of the cutting tool on the bone. However, this technology has a significant drawback: when the bone density of the lamina is uneven or the quality is poor, the vertical pressure sensor cannot accurately reflect the cutting state, which can easily lead to the cutting tool being too shallow (not cutting through) or too deep (invading the spinal canal), requiring manual observation and correction during the operation, increasing the surgical risk. Although similar technologies can achieve high precision in screw placement in practical applications (such as Mazor X and the Tianji robot), they still have limitations in decompression surgery due to the lack of a dynamic depth compensation mechanism for the cutting tool.

[0007] 2. "Inside-out" decompression, which involves cutting from the inner surface of the lamina (in the direction of the spinal canal) towards the outer surface, can be achieved using a self-sensing unlocking minimally invasive spinal decompression robotic arm. This arm, with its swing arm-like bone hook, can grasp the inner surface of the lamina, allowing for real-time monitoring of the lamina's coordinates and precise laminectomy decompression. However, it has been found to have difficulties in "retracting the blade," especially in narrow groove decompression. Furthermore, the lack of precise limiting protection during blade "advance" poses certain risks.

[0008] In view of the above-mentioned shortcomings, the designer actively researched and innovated in order to create a variable bone hook and depth-limited spinal minimally invasive decompression surgical robot, which would make it more valuable for industrial applications. Utility Model Content

[0009] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot.

[0010] The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot of this utility model includes a mounting base, a surgical platform mounted on the mounting base, and a multi-axis robotic arm mounted on one side of the surgical platform. The multi-axis robotic arm is equipped with a guide connecting block, and a depth limiting device is connected to the front side of the guide connecting block. A cutting tool device and a detection device are respectively connected to the depth limiting device.

[0011] The multi-axis robotic arm is located on one side of the depth limiting device and is equipped with a work guide motor. A separate guide device is connected to the work guide motor. The multi-axis robotic arm is located on the other side of the depth limiting device and is equipped with a displacement adjustment motor. An electric knife device is connected to the displacement adjustment motor. The cutting tool device includes a fixing device connected to the depth limiting device, and the lower end of the cutting tool device is inserted into the fixing device.

[0012] The detection device includes a detection drive motor mounted on a fixed device, a detection rod mounted on the detection drive motor, and a bone hook assembly made of shape memory alloy attached to the bottom of the detection rod; or, a connecting rod is movably inserted into the detection rod, the bone hook assembly is mounted on the bottom of the connecting rod, a lever is distributed at the upper end of the connecting rod, a clearance groove is opened at the corresponding position of the detection rod, and the lever is located in the clearance groove.

[0013] The mounting base is equipped with control devices, which are electrically connected to the drive ends of the multi-axis robotic arm, the cutting tool device, the work guide motor, the displacement adjustment motor, the electric knife device, and the detection drive motor, respectively.

[0014] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, the bone hook component made of shape memory alloy is a nickel-titanium shape memory alloy bone hook. The nickel-titanium shape memory alloy bone hook is hook-shaped at room temperature and sheet-shaped at temperatures below 10 degrees Celsius.

[0015] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, the depth-limiting device includes a receiving tube. The side end of the receiving tube is connected to a guide connecting block. An adjusting block is installed at the bottom of the receiving tube, and a spring is mounted on the adjusting block. A shield is installed at the top of the receiving tube, and an elastic adjustment device is installed on the shield. The upper end of the spring is connected to the elastic adjustment device. Dovetail grooves are distributed on one side of the receiving tube, and fins extend from both the left and right sides of the receiving tube, with the fins movably embedded in the dovetail grooves. This facilitates the guiding movement of the receiving tube. A slider is installed on the side of the dovetail groove block facing the storage tube. Guide plates are installed on both sides of the storage tube, and a guide groove is formed between the guide plates. The slider is embedded in the guide groove. The shield is fixedly connected to the dovetail groove block. A fixing device is installed on the side of the dovetail groove block facing away from the storage tube. Under the guidance of the spring, the dovetail groove block and the shield can move vertically relative to the fixedly installed storage tube.

[0016] Furthermore, in the aforementioned variable bone hook and depth-limiting minimally invasive spinal decompression surgical robot, the bottom of the receiving tube has an internal thread, the adjusting block is threadedly connected to the receiving tube, and the bottom of the adjusting block has knobs; the elastic adjustment device is a guide rod, the guide rod is located inside the receiving tube and has contact seats, the upper end of the spring passes through the guide rod and contacts the contact seats; an adjusting bolt is connected to the guide rod; or, a depth adjustment motor is installed on the shielding cover, and a threaded adjusting sleeve threadedly connected to the depth adjustment motor is installed on one side of the dovetail groove block, the depth adjustment motor being electrically connected to the control device.

[0017] Furthermore, in the aforementioned variable bone hook and depth-limited spinal minimally invasive decompression surgical robot, the detachable guiding device includes a scope rod connected to a work guide motor. An adjustable scope frame is distributed on the top of the scope rod, and a channel half-shell is installed at the lower end of the scope rod. The cutting tool device, detection device, and electrosurgical device can extend into the channel half-shell during use.

[0018] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, an endoscope and a suction device are inserted inside the endoscope rod, and the upper end of the endoscope is connected to the adjustable frame.

[0019] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, the guide connecting block is an L-shaped guide connecting block with a clearance groove on its inner side; the fixing device is a fixing bracket with a fixing ring on it; a detection drive motor is installed on one side of the fixing bracket; and the cutting tool device and the detection rod pass through the fixing ring.

[0020] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, the cutting tool device is also equipped with several clamps, which are connected to the depth-limiting device.

[0021] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, the control device is an industrial control computer, which is equipped with an independent human-computer interaction device, including a display, keyboard, and mouse.

[0022] Furthermore, in the aforementioned variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot, the multi-axis robotic arm includes a guide X-axis motor mounted on one side of the surgical platform, a guide Z-axis motor mounted on the guide X-axis motor, a guide Y-axis motor mounted on the guide Z-axis motor, a support arm connected to the guide Y-axis motor, a guide connecting block mounted on the support arm, and the guide X-axis motor, guide Z-axis motor, and guide Y-axis motor are all electrically connected to the control device.

[0023] By means of the above solution, this utility model has at least the following advantages:

[0024] 1. Through multi-axis robotic arms, precise spatial positioning of surgical instruments is achieved. With the participation of control equipment, "hand-eye separation" is realized during user operation, reducing the difficulty of operation.

[0025] 2. The bone hook assembly in the detection device can be either temperature-triggered or lever-triggered, making it compatible with different surgical scenarios. It also allows the bone hook assembly to detach directly from the corresponding gap, avoiding secondary trauma that may be caused by traditional mechanical retraction.

[0026] 3. The depth limiting device can be adjusted by the elastic force of the spring to achieve dynamic lifting height compensation of the cutting device and the detection device. It can adapt to the safe height fluctuation of 0.5-3mm on the outer surface of the vertebral lamina and prevent the blade installed on the cutting device from excessively intruding into the vertebral canal.

[0027] 4. The spring state can be adjusted independently to adapt to different spinal decompression surgery needs.

[0028] 5. The overall structure is simple, making it easy to assemble and use.

[0029] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the variable bone hook and depth-limited spinal minimally invasive decompression surgery robot.

[0031] Figure 2 This is a partial frontal structural diagram of the variable bone hook and depth-limited spinal minimally invasive decompression surgery robot.

[0032] Figure 3 This is a schematic diagram of the overall structure of the tooling device and the depth limiting device.

[0033] Figure 4 This is a schematic diagram of the rear structure of the tooling device combined with the depth limiting device.

[0034] Figure 5 This is a right-view structural diagram of the combination of the cutting tool device and the depth limiting device.

[0035] Figure 6 This is a cross-sectional schematic diagram of the combination of the cutting tool device and the depth limiting device.

[0036] Figure 7 This is a schematic diagram of a separate guide device.

[0037] Figure 8 This is a schematic diagram of the installation of a bone hook assembly made of shape memory alloy.

[0038] Figure 9 This is a schematic diagram of the installation of the bone hook assembly with a lever.

[0039] The meanings of the labels in the figures are as follows.

[0040] Detailed Implementation

[0041] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0042] like Figures 1 to 9The variable bone hook and depth-limiting minimally invasive spinal decompression surgical robot includes a mounting base 1, a surgical platform 2 mounted on the mounting base 1, and a multi-axis robotic arm mounted on one side of the surgical platform 2. Its unique feature is the inclusion of a guide connecting block 3 mounted on the multi-axis robotic arm. A depth-limiting device 4 is connected to the front of the guide connecting block 3, and a cutting tool device 5 and a detection device are connected to the depth-limiting device 4. This allows the surgical area and path to be determined beforehand via the detection device, facilitating subsequent intervention by the cutting tool device 5. Simultaneously, a working guide motor 6 is mounted on the side of the multi-axis robotic arm located at the depth-limiting device 4, and a separate guide device 7 is connected to the working guide motor 6. This facilitates the provision of an optimized intervention path for the cutting tool device 5 and the detection device, and limits the surgical operation range, avoiding damage to other non-pathological tissues. Considering the need for surgical field exposure and the cutting and ablation of pathological tissues, a displacement adjustment motor 8 is mounted on the other side of the multi-axis robotic arm located at the depth-limiting device 4, and an electrosurgical unit 9 is connected to the displacement adjustment motor 8. To facilitate installation and positioning, the cutting tool device 5 includes a fixing device 10 connected to the depth limiting device 4, with the lower end of the cutting tool device 5 inserted into the fixing device 10.

[0043] During implementation, the detection device used includes a detection drive motor 11 mounted on the fixed device 10 and constructed by a linear drive motor. A detection rod 12 is mounted on the detection drive motor 11, and a bone hook assembly 13 made of shape memory alloy is attached to the bottom of the detection rod 12. Specifically, the bone hook assembly 13 is a nickel-titanium shape memory alloy bone hook, which is hook-shaped at room temperature. After use, the temperature can be changed by pouring ice-cold saline solution below 10 degrees Celsius, causing the nickel-titanium shape memory alloy bone hook to become plate-shaped, facilitating the retraction of the blade in the cutting tool device 5. Alternatively, considering other simplified control methods, a connecting rod (not shown in the figure) can be movably inserted into the detection rod 12, with the bone hook assembly 13 mounted on the bottom of the detection rod 12. Simultaneously, a (slidable) lever 14 is distributed at the upper end of the connecting rod, and a clearance groove is provided at the corresponding position on the detection rod 12, with the lever 14 located within the clearance groove. In this way, by adjusting the lever 14, the orientation of the bone hook assembly 13 can be controlled, making it parallel to the working surface of the bone knife when retraction is required, thus facilitating better knife retraction. Furthermore, considering the need for coordination and control during automated operation, a control device (not shown in the figure) is installed in the mounting base 1. The control device is electrically connected to the corresponding drive ends of the multi-axis robotic arm, the tool device 5, the work guide motor 6, the displacement adjustment motor 8, the electrosurgical device 9, and the detection drive motor 11.

[0044] In a preferred embodiment of this invention, to control the relative height of the subsequent cutting tool device 5 and the detection device during actual operation, allowing them to move forward at a safe height along the upper end of the outer surface of the vertebral plate, the depth limiting device 4 includes a receiving tube 15, the side end of which is connected to the guide connecting block 3. Specifically, an adjusting block 16 is installed at the bottom of the receiving tube 15, a spring 17 is installed on the adjusting block 16, a shield 36 is installed at the top of the receiving tube 15, and a spring adjustment device is installed on the shield 36. The upper end of the spring 17 is connected to the spring adjustment device. In this way, the current compression state of the spring 17 can be adjusted through the spring adjustment device, facilitating a moderate lifting of the moving cutting tool device 5 and the detection device during use. Furthermore, to achieve a smoother relative sliding, dovetail groove blocks 18 are distributed on one side of the receiving tube 15, and the left and right sides of the receiving tube 15 are movably embedded in the dovetail groove blocks 18 to achieve motion guidance. Of course, fins can be extended on both sides of the receiving tube 15 according to actual needs, and the fins can be embedded into the slots opened in the dovetail block 18. A slider 19 is installed on the side of the dovetail block 18 facing the receiving tube 15, and guide plates 20 are installed on both sides of the receiving tube 15. The guide plates 20 form a guide groove, and the slider 19 is embedded in the guide groove. In order to achieve appropriate limiting, a limiting strip can also be extended in the direction of the receiving tube 15 facing the dovetail block 18 to prevent the receiving tube 15 from accidentally falling off the slider 19. Furthermore, the shield 36 is fixedly connected to the dovetail block 18, and a fixing device 10 is installed on the side of the dovetail block 18 facing away from the receiving tube 15. Thus, under the guidance of the spring 17, the dovetail block 18 and the shield 36 can move vertically relative to the fixedly installed receiving tube 15. Subsequently, the dovetail groove block 18 drives the cutting tool device 5 and the detection device to achieve lifting and floating.

[0045] Furthermore, considering the stability of installation and adjustment, the bottom of the receiving tube 15 is threaded, and the adjusting block 16 is threadedly connected to the receiving tube 15. A knob is located at the bottom of the adjusting block 16. During assembly, the knob can be used to lock the thread. Simultaneously, a guide rod 21 is used as the elastic adjustment device. A contact seat 22 is located inside the receiving tube 15 on the guide rod 21. The upper end of the spring 17 passes through the guide rod 21 and contacts the contact seat 22. To adjust the compression of the spring 17, an adjusting bolt 23 is connected to the guide rod 21. Thus, by manually rotating the adjusting bolt 23, the guide rod 21 and the contact seat 22 can be moved up and down, allowing the spring 17 to be in different compression states. Different upward lifting effects can be provided according to surgical needs. For certain special automatic adjustment needs, a depth adjustment motor 24 can be installed on the shield 36. A threaded adjustment sleeve 25 threadedly connected to the depth adjustment motor 24 is installed on one side of the dovetail block 18. The depth adjustment motor 24 is electrically connected to the control device. In practical implementation, to meet the auxiliary forward guidance of various surgical instruments, the separate guiding device 7 includes a scope rod 26 connected to the working guide motor 6. An adjusting scope frame 27 is distributed on the top of the scope rod 26. At the same time, a channel half-shell 28 is installed at the lower end of the scope rod 26. The cutting tool device 5, the detection device, and the electrosurgical device 9 can be inserted into the channel half-shell 28 during use. In addition, for the convenience of operation and observation, an endoscope 29 and a suction device 30 are inserted inside the scope rod 26. The upper end of the endoscope 29 is connected to the adjusting scope frame 27. In this way, the surgical field of view can be exposed without obstruction, which facilitates the cutting and ablation of pathological tissues. During implementation, the channel half-shell 28 can be installed using positioning screws, facilitating disassembly and maintenance.

[0046] Looking further, the guide connecting block 3 is an L-shaped guide connecting block with a clearance groove on its inner side. This prevents unnecessary scraping during the up-and-down movement of the dovetail groove block 18, reducing motion damping. Meanwhile, the fixing device 10 is a fixing bracket with a fixing ring. A detection drive motor 11 is installed on one side of the fixing bracket, through which the cutting tool device 5 and the detection rod 12 pass. This ensures the lower end of the cutting tool device 5 is stably positioned, preventing displacement due to vibration during operation. Furthermore, the cutting tool device 5 in this invention is also equipped with several clamps 31, which are connected to the dovetail groove block 18 of the depth limiting device 4. This facilitates easy assembly and disassembly of the cutting tool device 5, and is beneficial for disinfection, use, and maintenance.

[0047] Meanwhile, considering the ease of adjustment of the surgical area, the multi-axis robotic arm includes a guide X-axis motor 32 mounted on one side of the surgical platform 2, a guide Z-axis motor 33 mounted on the guide X-axis motor 32, a guide Y-axis motor 34 mounted on the guide Z-axis motor 33, a support arm 35 connected to the guide Y-axis motor 34, and a guide connecting block 3 mounted on the support arm 35. Furthermore, the guide X-axis motor 32, guide Z-axis motor 33, and guide Y-axis motor 34 are all electrically connected to the control equipment. Moreover, considering the need for coordination and control between various processing steps, an industrial PC is used as the control equipment. The industrial PC is equipped with an independent human-machine interface device, including a monitor, keyboard, and mouse. This facilitates the pre-entry of operating parameters and allows for on-site parameter adjustments by the user. For ease of implementation, commercially available medical equipment can be directly selected for the multi-axis robotic arm and control equipment. Multiple axes are configured for the multi-axis robotic arm to achieve more refined working angle adjustments, which can be coordinated and controlled by selecting appropriate control programs.

[0048] The working principle of this utility model is as follows:

[0049] A multi-axis robotic arm guides the probe to the appropriate surgical area. Before the cutting device 5 begins its incision, the probe, guided by the multi-axis robotic arm, uses the probe rod 12, along with the bone hook assembly 13, to simulate its path forward within the surgical area. Simultaneously, the work guide motor 6 automatically records the coordinate data of the outer surface of the vertebral lamina along the planned path. Afterward, the probe resets. During this period, the bone hook assembly 13 does not need to enter the corresponding work area, as the cutting device 5 is not yet involved.

[0050] Subsequently, the control device assigns coordinate data to the cutting tool 5, and the depth limiting device 4 ensures that the bottom of the probe rod 12 and the working point of the cutting tool 5 are always at a safe height relative to the outer surface of the vertebral lamina. During this period, the control device can be used for verification and adjustment. This ensures that the cutting tool 5 is adequately limited when entering the spinal canal from different interlaminar spaces, and avoids interference from the limiting probe rod 12 on the cutting of the cutting tool 5. By default, the position of the bone hook assembly 13 is perpendicular to the cutting edge of the cutting tool 5, placing the cutting tool 5 in a suitable forward path. When ablation or cutting is required, the working guide motor 6 can drive the separate guide device 7 to limit the pathological tissue, facilitating the operation of the electrosurgical device 9.

[0051] After cutting is completed, the retraction process of the cutting tool device 5 begins. At this point, depending on the bone hook assembly 13, there are two possible solutions:

[0052] Option 1: The bone hook assembly 13, made of shape memory alloy (nickel-titanium shape memory alloy), is L-shaped at room temperature. After being poured with low-temperature physiological saline, the L-shaped hook unfolds downwards into a sheet-like shape. At this point, the bone hook assembly 13 can detach from the vertebral laminar cutting gap, completing the retraction of the cutting tool device 5.

[0053] Option 2: Move lever 14 to switch the current angle of bone hook assembly 13, making it parallel to the cutting edge of the blade on the cutting device 5. Then, bone hook assembly 13 can separate from the vertebral laminar cutting gap, completing the retraction of the cutting device 5.

[0054] As can be seen from the above textual description and the accompanying drawings, the present invention has the following advantages:

[0055] 1. Through multi-axis robotic arms, precise spatial positioning of surgical instruments is achieved. With the participation of control equipment, "hand-eye separation" is realized during user operation, reducing the difficulty of operation and improving the safety of surgery.

[0056] 2. The bone hook assembly in the detection device can be either temperature-triggered or lever-triggered, making it compatible with different surgical scenarios. It also allows the bone hook assembly to detach directly from the corresponding gap, avoiding secondary trauma that may be caused by traditional mechanical retraction.

[0057] 3. The depth limiting device can be adjusted by the elastic force of the spring to achieve dynamic lifting height compensation of the cutting device and the detection device. It can adapt to the safe height fluctuation of 0.5-3mm on the outer surface of the vertebral lamina and prevent the blade installed on the cutting device from excessively intruding into the vertebral canal.

[0058] 4. The spring state can be adjusted independently to adapt to different spinal decompression surgery needs.

[0059] 5. The overall structure is simple, making it easy to assemble and use.

[0060] Furthermore, the directions or positional relationships described in this utility model are based on the directions or positional relationships shown in the accompanying drawings. They are only for the purpose of facilitating the description of this utility model and simplifying the description, and are not intended to indicate or imply that the device or structure referred to must have a specific orientation, or to operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0061] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A variable bone hook and depth-limiting minimally invasive spinal decompression surgical robot, comprising a mounting base (1), a surgical platform (2) mounted on the mounting base (1), and a multi-axis robotic arm mounted on one side of the surgical platform (2), characterized in that: The multi-axis robotic arm is equipped with a guide connecting block (3), and a depth limiting device (4) is connected to the front side of the guide connecting block (3). The depth limiting device (4) is connected to a cutting tool device (5) and a detection device respectively. The multi-axis robotic arm is located on one side of the depth limiting device (4) and is equipped with a work guide motor (6). A separate guide device (7) is connected to the work guide motor (6). The multi-axis robotic arm is located on the other side of the depth limiting device (4) and is equipped with a displacement adjustment motor (8). An electric knife device (9) is connected to the displacement adjustment motor (8). The cutting tool device (5) includes a fixing device (10) connected to the depth limiting device (4). The lower end of the cutting tool device (5) is inserted into the fixing device (10). The detection device includes a detection drive motor (11) mounted on a fixing device (10), a detection rod (12) mounted on the detection drive motor (11), and a bone hook assembly (13) made of shape memory alloy attached to the bottom of the detection rod (12); or, a connecting rod is movably inserted into the detection rod (12), the bone hook assembly (13) is mounted on the bottom of the connecting rod (12), a lever (14) is distributed at the upper end of the connecting rod, a clearance groove is opened at the corresponding position of the detection rod (12), and the lever (14) is located in the clearance groove; The mounting base (1) is equipped with control devices, which are electrically connected to the drive ends of the multi-axis robotic arm, the cutting tool device (5), the work guide motor (6), the displacement adjustment motor (8), the electric knife device (9), and the detection drive motor (11).

2. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The bone hook assembly (13) made of the shape memory alloy is a nickel-titanium shape memory alloy bone hook. The nickel-titanium shape memory alloy bone hook is hook-shaped at room temperature and sheet-shaped in the temperature range below 10 degrees Celsius.

3. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The depth limiting device (4) includes a receiving tube (15), the side end of which is connected to a guide connecting block (3). An adjusting block (16) is installed at the bottom of the receiving tube (15), and a spring (17) is installed on the adjusting block (16). A shield (36) is installed at the top of the receiving tube (15), and a spring adjustment device is installed on the shield (36). The upper end of the spring (17) is connected to the spring adjustment device. A dovetail groove block (18) is distributed on one side of the receiving tube (15), and fins extend from the left and right sides of the receiving tube (15). The fins are movably embedded in the dovetail. In the slot block (18); a slider (19) is installed on the side of the dovetail slot block (18) facing the storage tube (15), and guide plates (20) are installed on both sides of the storage tube (15). The guide plates (20) form a guide groove. The slider (19) is embedded in the guide groove. The shield (36) is fixedly connected to the dovetail slot block (18). A fixing device (10) is installed on the side of the dovetail slot block (18) facing away from the storage tube (15). Under the guidance of the spring (17), the dovetail slot block (18) and the shield (36) achieve relative vertical movement relative to the fixedly installed storage tube (15).

4. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 3, characterized in that: The bottom of the receiving tube (15) is provided with an internal thread, the adjusting block (16) is threadedly connected to the receiving tube (15), and the bottom of the adjusting block (16) is provided with knobs; the elastic adjustment device is a guide rod (21), the guide rod (21) is located on the inner side of the receiving tube (15) and has a contact seat (22), the upper end of the spring (17) passes through the guide rod (21) and contacts the contact seat (22); an adjusting bolt (23) is connected to the guide rod (21); or, a depth adjustment motor (24) is installed on the shield (36), and a threaded adjusting sleeve (25) threadedly connected to the depth adjustment motor (24) is installed on one side of the dovetail groove block (18), and the depth adjustment motor (24) is electrically connected to the control device.

5. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The separate guide device (7) includes a mirror rod (26) connected to the working guide motor (6). An adjustable mirror frame (27) is distributed on the top of the mirror rod (26). A channel half shell (28) is installed at the lower end of the mirror rod (26). The cutting device (5), the detection device, and the electric knife device (9) can extend into the channel half shell (28) during use.

6. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 5, characterized in that: An endoscope (29) and a suction device (30) are inserted inside the endoscope rod (26), and the upper end of the endoscope (29) is connected to the adjusting frame (27).

7. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The guide connecting block (3) is an L-shaped guide connecting block, and a clearance groove is provided on the inner side of the L-shaped guide connecting block; the fixing device (10) is a fixing bracket, and a fixing ring is provided on the fixing bracket. A detection drive motor (11) is installed on one side of the fixing bracket, and the cutting tool device (5) and the detection rod (12) pass through the fixing ring.

8. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The cutting tool device (5) is also equipped with several clamps (31), which are connected to the depth limiting device (4).

9. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The control device is an industrial computer, which is equipped with an independent human-computer interaction device, including a monitor, keyboard, and mouse.

10. The variable bone hook and depth-limiting spinal minimally invasive decompression surgical robot according to claim 1, characterized in that: The multi-axis robotic arm includes a guide X-axis motor (32) mounted on one side of the surgical platform (2), a guide Z-axis motor (33) mounted on the guide X-axis motor (32), a guide Y-axis motor (34) mounted on the guide Z-axis motor (33), a support arm (35) connected to the guide Y-axis motor (34), and a guide connecting block (3) mounted on the support arm (35). The guide X-axis motor (32), guide Z-axis motor (33), and guide Y-axis motor (34) are all electrically connected to the control equipment.

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