CN110623731A - A highly integrated orthopedic surgical robot - Google Patents

Abstract

The invention discloses a highly integrated orthopedic surgical robot, which includes a robot body, imaging equipment, an actuator, monitoring equipment, an operating bed, a control system and a display screen, the control system is arranged inside the robot body, and the The display screen is installed on the robot body; the imaging device is connected to the control system circuit; the monitoring device is connected to the control system circuit; the actuator is fixed on the operating bed and connected to the operating bed Sliding connection, the surgical tool is installed on the actuator, and the actuator is connected with the control system circuit. The highly integrated orthopedic surgical robot disclosed in the present invention has a reasonable structural design, and integrates imaging equipment, actuators, control systems and other equipment into one body, which not only reduces data transmission and position switching between different equipment, but also greatly saves surgical time. Room space, and optimize the surgical workflow, reducing the difficulty of operation.

Description

A highly integrated orthopedic surgical robot

technical field

The invention relates to the technical field of medical devices, in particular to a highly integrated orthopedic surgical robot.

Background technique

In recent years, orthopedic surgical robots have been widely used in clinical practice at home and abroad. Their high precision, minimally invasive and fast features make them not only the right-hand man of doctors at present, but also make the future of orthopedic surgery more possible. At present, the working principle of orthopedic surgical robots is mainly based on navigation technology, supplemented by a multi-degree-of-freedom robotic arm as an actuator, and needs to cooperate with preoperative or intraoperative imaging equipment to complete surgical guidance and operation. Therefore, imaging equipment (such as C-arm), robots, operating tables, and other monitoring and auxiliary equipment have become necessary equipment for robotic orthopedic surgery.

However, the existing orthopedic surgical robots are not only independent of imaging equipment, but also independent of the operating bed, and various equipment need to be connected to each other and work together. Since different devices come from different manufacturers and run under different operating systems, there are many problems in the connection and switching between different devices, which not only leads to the cramped operation space, but also seriously affects the Surgical effects and execution efficiency, and to some extent seriously restrict the rapid development of orthopedic surgery robot technology.

Contents of the invention

To this end, the present invention provides a highly integrated orthopedic surgical robot to solve the problem of relatively difficult operation and low execution efficiency caused by the independence of imaging equipment, robots, and operating beds of orthopedic surgical robots in the prior art. question.

In order to achieve the above object, the present invention provides the following technical solutions:

The present invention provides a highly integrated orthopedic surgical robot, which includes a robot body, an imaging device, an actuator, a monitoring device, an operating bed, a control system and a display screen, the display screen is installed on the robot body, and the control system set inside the robot body, and the display screen is connected to the control system circuit;

The imaging device is connected to the control system circuit, and is used to scan the patient on the operating bed and send the scanned image to the control system;

The monitoring device is connected to the control system circuit, and the monitoring device is used to monitor the position of the actuator and the patient and transmit the monitoring information to the control system;

The actuator is fixed on the operating bed and is slidably connected to the operating bed, the surgical tool is installed on the actuator, and the actuator is connected to the control system circuit;

The control system controls the actuator according to the scanned image and monitoring information, and the actuator utilizes the surgical tool to operate on the patient.

Preferably, the actuator is a multi-degree-of-freedom robot arm and a control box, and the freedom-degree robot arm and the control box are respectively connected to the control system circuit;

The multi-degree-of-freedom mechanical arm is installed on the control box; the control box is installed on the operating bed, and the control box is slidingly connected to the operating bed.

Preferably, the operating bed is provided with a placement frame, and the imaging equipment is movably mounted on the placement frame;

Under the control of the control system, the actuator grabs the imaging device on the rack and moves to the operation area to scan the patient.

Preferably, the operating bed includes a bed body and a support frame, and the bed body is fixed on the top of the support frame;

The two placement frames are respectively arranged on the front side and the rear side of the support frame, and the left and right sides of the bottom of the support frame are respectively provided with rails;

The actuator is installed on the track.

Preferably, the operating bed includes a bed body and a support frame, the bed body is fixed on the top of the support frame, and the left and right sides of the bottom of the support frame are respectively provided with rails for installing the actuator ;

The bed body includes an upper subsection and a lower subsection, and the lower subsection includes a left subsection and a right subsection arranged side by side;

The left subsection and the right subsection are respectively rotatably connected to the upper subsection, and an included angle between the left subsection and the right subsection is adjustable.

Preferably, the left subsection can be bent along its width direction, and the bending angle is adapted to the bending arc of the patient's left lower limb;

The right subsection can be bent along its width direction, and the bending angle is adapted to the bending arc of the patient's right lower limb.

Preferably, the supporting frame is provided with a placing frame, and the placing frame is located on the lower side of the left subsection or the right subsection.

Preferably, the highly integrated orthopedic surgical robot also includes a multi-degree-of-freedom bracket;

The multi-degree-of-freedom bracket is installed on the operating bed, and the multi-degree-of-freedom bracket is slidingly connected to the operating bed, and the multi-degree-of-freedom bracket is connected to the control system circuit;

The imaging device is mounted on the multi-degree-of-freedom bracket;

Under the control of the control system, the multi-degree-of-freedom bracket drives the imaging device to move to the operation area to scan the patient.

Preferably, the highly integrated orthopedic surgical robot further includes a multi-degree-of-freedom support arm mounted on the robot body, and the multi-degree-of-freedom support arm is connected to the control system circuit;

The monitoring device is installed on the multi-degree-of-freedom support arm, and the monitoring device moves under the drive of the multi-degree-of-freedom support arm.

Preferably, the highly integrated orthopedic surgery robot further includes walking wheels, a plurality of walking wheels are arranged at the bottom of the robot body, and the walking wheels are used to drive the robot body to move.

The present invention has the following advantages:

The invention provides a highly integrated orthopedic surgical robot, which includes a robot body, imaging equipment, an actuator, monitoring equipment, an operating bed, a control system and a display screen. Among them, imaging equipment, actuators, monitoring equipment, display screens and other equipment are connected to the control system circuit, and the actuators and imaging equipment are installed on the operating bed, which integrates imaging equipment, actuators, control systems, display screens and other equipment As a whole, it not only reduces the data transmission and position switching between different devices, greatly saves the operating room space, reduces the difficulty of operation, but also greatly improves the reliability of the robotic surgery system in orthopedic surgery.

In addition, this highly integrated orthopedic surgical robot greatly optimizes the surgical process, and the operation is simpler. All operations can be completed on one workbench. Scanning of imaging equipment, image registration, removal of imaging equipment, guidance of surgical tools, re-installation of imaging equipment after surgery to confirm the effect, etc. At the same time, this highly integrated orthopedic surgical robot technically uses integrated data lines and power lines to realize the interconnection of circuits and power supplies of various parts of the orthopedic robot, and a control system is set up in the robot control part to achieve unified control and greatly improve the integration.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that are required in the description of the embodiments or the prior art. Apparently, the drawings in the following description are only exemplary, and those skilled in the art can also obtain other implementation drawings according to the provided drawings without creative work.

The structures, proportions, sizes, etc. shown in this manual are only used to cooperate with the content disclosed in the manual, so that people familiar with this technology can understand and read, and are not used to limit the conditions for the implementation of the present invention, so there is no technical In the substantive meaning above, any modification of structure, change of proportional relationship or adjustment of size shall still fall within the scope of the technical content disclosed in the present invention without affecting the effect and purpose of the present invention. In the range.

1 is a schematic structural view of a highly integrated orthopedic surgical robot provided by an embodiment of the present invention;

2 is a schematic structural view of an operating bed of a highly integrated orthopedic surgical robot provided in Embodiment 1 of the present invention;

3 is a schematic structural diagram of an actuator of a highly integrated orthopedic surgical robot provided in Embodiment 1 of the present invention;

FIG. 4 is a schematic structural diagram of the placement state of an imaging device of a highly integrated orthopedic surgical robot provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of the imaging device scanning state of a highly integrated orthopedic surgical robot provided in Embodiment 1 of the present invention;

6 is a schematic structural view of an operating bed of a highly integrated orthopedic surgical robot provided in Embodiment 2 of the present invention;

Fig. 7 is a reference diagram of the operating state of a highly integrated orthopedic surgical robot operating bed provided by Embodiment 2 of the present invention;

Fig. 8 is a schematic structural diagram of the imaging device scanning state of a highly integrated orthopedic surgical robot provided by Embodiment 3 of the present invention;

In the figure: 1. Robot body; 2. Imaging equipment; 3. Executing mechanism; 31. Multi-degree-of-freedom mechanical arm; 32. Control box; 4. Monitoring equipment; 5. Operating bed; 51. Bed body; 511. Upper points 512, lower division; 5121, left division; 5122, right division; 52, support frame; 6, display screen; 7, placement frame; 8, multi-degree-of-freedom bracket; 9, multi-degree-of-freedom support arm 10. Walking wheel; 11. Track.

Detailed ways

The implementation mode of the present invention is illustrated by specific specific examples below, and those who are familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this description. Obviously, the described embodiments are a part of the present invention. , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

As shown in Figure 1, this embodiment provides a highly integrated orthopedic surgical robot, which includes a robot body 1, an imaging device 2, an actuator 3, a monitoring device 4, an operating bed 5, a control system and a display screen 6, wherein, The display screen 6 is installed on the robot body 1, the control system is arranged inside the robot body 1, and the display screen 6 is connected with the control system circuit.

In this embodiment, the imaging device 2 is connected with the control system circuit, and is used for scanning the patient on the operating bed 5 and sending the scanned image to the control system. The imaging device 2 is a mobile X-ray machine, which is used for two-dimensional and three-dimensional image scanning of the patient, and the control system controls the actuator 3 to perform surgical operations on the patient according to the scanned image.

Specifically, the monitoring device 4 is connected to the control system circuit, and the monitoring device 4 is used to monitor the positions of the actuator 3 and the patient and transmit the monitoring information to the control system. The monitoring device 4 can be, but not limited to, a navigation camera. The navigation camera is an infrared or visible light camera, which integrates control software and is connected to the control system circuit. The monitoring device 4 is similar to human eyes and is used to locate the actuator 3 and the position of the patient. The monitoring device 4 helps to ensure the smooth progress of orthopedic surgery.

More specifically, the actuator 3 is fixed on the operating bed 5 and is slidably connected to the operating bed 5 , the surgical tools are mounted on the actuator 3 , and the actuator 3 is connected to the control system circuit.

As shown in Figure 3, the actuator 3 is a multi-degree-of-freedom mechanical arm 31 and a control box 32, and the freedom-degree mechanical arm and the control box 32 are respectively connected with the control system circuit; the multi-degree-of-freedom mechanical arm 31 is installed in the control box 32; the control box 32 is installed on the operating bed 5, and the control box 32 is slidably connected to the operating bed 5, wherein the control box 32 is connected to the control system circuit through a data line and a power line. The control box 32 contains a drive motor and a control device for the multi-degree-of-freedom robot arm 31 , and the drive motor is used to drive the control box 32 to drive the multi-degree-of-freedom robot arm 31 to move along the track 11 of the operating bed 5 . The control device of the multi-degree-of-freedom mechanical arm 31 is connected with the control system circuit, and the control system controls the arc and position of the telescopic and bending of the multi-degree-of-freedom mechanical arm 31, thereby realizing multi-degree-of-freedom movement.

It should be noted that in the present invention, the control system is the control core of the entire system, and the control system is used to control the actuator 3 to move along the operating bed 5 to complete the operation; Move, capture the image device 2 and drive the image device 2 to complete scanning exposure and other actions.

In this embodiment, the control system controls the actuator 3 according to the scanned images and monitoring information, and the actuator 3 uses surgical tools to operate on the patient.

Preferably, the operating bed 5 is provided with a placement frame 7 , and the imaging device 2 is movably mounted on the placement frame 7 . When the scan starts, the actuator 3 grabs the imaging device 2 on the shelf 7 under the control of the control system and moves to the operation area to scan the patient. After the scan is completed, the actuator 3 drives the imaging device under the control of the control system 2 move to the placement rack 7 and place the imaging device 2 on the placement rack 7, which greatly facilitates the usual placement of the imaging device 2, and also facilitates the grasping of the actuator 3 under the control of the control system when scanning the patient. It is also convenient for the actuator 3 to put the imaging device 2 back under the control of the control system after the scanning is completed, thereby optimizing the layout of various devices in the operating room and greatly saving the space in the operating room.

It should be noted that the operating bed 5 is a very important part of orthopedic surgery. This embodiment only needs to introduce the integral operating bed 5, which is mainly used in spine, hip joint and other operations.

As shown in Figure 2, the operating bed 5 includes a bed body 51 and a support frame 52, the bed body 51 is fixed on the top of the support frame 52; Can be placed on the placement frame 7 located at the front side as required, and can also be placed on the placement frame 7 located at the rear side as required; the left and right sides of the bottom of the support frame 52 are respectively provided with rails 11, and the actuator 3 is installed on the rails 11. The actuator 3 moves back and forth along the track 11 under the control of the control system, so as to complete the patient's scanning process or operation.

Referring to FIG. 4 and FIG. 5 , in this embodiment, the surgical tool and the imaging device 2 share the same actuator 3 . Among them, the imaging device 2 is a key component of the orthopedic robot and an important embodiment of high integration. The imaging device 2 can be, but not limited to, a small C-arm X-ray machine. A C-arm X-ray machine is used as a scanning tool and placed on the shelf 7 at one end of the operating bed 5. The multi-degree-of-freedom mechanical arm 31 of the actuator 3 grabs the C-shaped arm X-ray machine and move to the operation area, the C-arm X-ray machine completes three-dimensional or two-dimensional image scanning and transmits the scanned image to the control system, and the control system images the scanned image on the display screen 6 for operation planning and manipulation. After the patient's image scanning is completed, the multi-degree-of-freedom mechanical arm 31 sends the C-arm X-ray machine back to the placement frame 7 and then returns to the operation area, where the corresponding surgical tools are installed to continue to complete the follow-up operation. In addition to working in the traditional power supply mode, the C-arm X-ray machine is equipped with a charging power supply, which can work without grid power and supports wireless image transmission. Of course, the mobile scanning of the C-arm X-ray machine can also be realized manually.

It should be noted that the C-arm X-ray machine is placed on the placement frame 7 of the operating bed 5 and forms an integral structure with the operating bed 5, and the C-arm X-ray machine can move along the direction of the operating bed 5 to reach and The purpose of moving out of the operation area is to optimize the spatial structure of the operating room and simplify the operation process.

Preferably, the highly integrated orthopedic surgery robot also includes a multi-degree-of-freedom support arm 9, which is installed on the robot body 1, and the multi-degree-of-freedom support arm 9 is connected to the control system circuit; the monitoring device 4 is installed on the multi-degree-of-freedom support arm 9. degree support arm 9, and the monitoring device 4 moves under the drive of the multi-degree-of-freedom support arm 9. The multi-degree-of-freedom support arm 9 can move and rotate to different positions and angles under the control of the control system. The navigation camera realizes real-time tracking of the position of the actuator 3 and the patient according to the navigation principle, and transmits the monitoring information to the control system. The system controls the actuator 3 to operate on the patient, and the operation process is simpler.

Preferably, the highly integrated orthopedic surgery robot also includes walking wheels 10, a plurality of walking wheels 10 are arranged at the bottom of the robot body 1, and the walking wheels 10 are used to drive the robot body 1 to move, which greatly facilitates the movement of the robot body 1 , It is also convenient to operate and control the operation process of the patient.

In this embodiment, the robot body 1 exists in the form of a trolley, which has four wheels for easy movement. The hardware and software of the control system are installed in the trolley, and one or more touchable display screens 6 are provided. It is used for operation planning and control, and the imaging device 2, actuator 3, monitoring device 4, etc. are all controlled by the control system in order to complete the operation process more accurately.

It should be added that the robotic arm in the prior art refers to a complex system with high precision, multiple inputs, multiple outputs, high nonlinearity, and strong coupling. The mechanical arm uses a mechatronic device that simulates the functions of the human arm, wrist, and hand; it can move any object or tool according to the time-varying requirements of the spatial posture (position and posture), so as to complete the operation requirements of a certain surgical process, such as Hold imaging equipment 2 or surgical tools. Robotic arms are more common in the application field of robots, and their structures are also relatively common. And the degree of freedom mechanical arm involved in the present invention, the multi-degree-of-freedom support arm 9, the structure and working principle of the multi-degree-of-freedom support 8 all adopt the mechanical arm in the prior art, all in order to carry relevant equipment components and make the relevant The equipment is in the position and angle required for the operation, so as to facilitate the implementation of the operation process.

In the highly integrated orthopedic surgical robot provided in this embodiment, the imaging equipment 2, the actuator 3, the monitoring equipment 4, the display screen 6 and other equipment are respectively connected to the control system circuit, and the actuator 3 and the imaging equipment 2 are installed in the surgical robot. Bed 5, which integrates imaging equipment 2, actuator 3, control system, display screen 6 and other equipment into one, not only reduces data transmission and position switching between different equipment, greatly saves operating room space, and reduces operating It also greatly improves the reliability of the robotic surgery system in orthopedic surgery.

In addition, this highly integrated orthopedic surgical robot greatly optimizes the surgical process, and the operation is simpler. All surgical operations can be completed on one workbench. , Imaging equipment 2 scanning, image registration, imaging equipment 2 removal, surgical tool guidance, postoperative re-imaging equipment 2 to confirm the effect and other operations. At the same time, this highly integrated orthopedic surgical robot technically uses integrated data lines and power lines to realize the interconnection of circuits and power supplies of various parts of the orthopedic robot, and a control system is set up in the robot control part to achieve unified control and greatly improve the integration.

Example 2

This embodiment provides another highly integrated orthopedic surgical robot, and the same parts as those in Embodiment 1 will not be repeated here, and only the different parts will be introduced below.

1 to 5, in this embodiment, the operating bed 5 includes a bed body 51 and a support frame 52, the bed body 51 is fixed on the top of the support frame 52, and the left and right sides of the bottom of the support frame 52 are respectively provided with useful The track 11 on which the actuator 3 is installed is convenient for the actuator 3 to move.

It should be noted that the operating bed 5 is a very important part of orthopedic surgery. This embodiment only needs to introduce the split type. The split type operating bed 5 is mainly used for lower limb related operations, including but not limited to ankle joints and knee joints. , tibia, fibula, femur and other parts of the operation.

As shown in FIGS. 6 and 7 , the bed body 51 includes an upper subsection 511 and a lower subsection 512 , and the lower subsection 512 includes a left subsection 5121 and a right subsection 5122 arranged side by side. The upper subsection 511 is used to accommodate the patient's upper body, the left subsection 5121 is used to accommodate the patient's left leg, and the right subsection 5122 is used to accommodate the patient's right leg.

In this embodiment, the left subsection 5121 and the right subsection 5122 are rotatably connected with the upper subsection 511 respectively, and the included angle between the left subsection 5121 and the right subsection 5122 is adjustable, which greatly facilitates the placement of patients. The comfortable operation posture also facilitates the surgical treatment of patients by the actuator 3.

Preferably, the left subsection 5121 can be bent along its width direction, and the bending angle is adapted to the bending arc of the patient's left lower limb; the right subsection 5122 can be bent along its width direction, and the bending angle is adapted to the curvature of the patient's right lower limb. curved arc. By bending the left subsection 5121 or the right subsection 5122 to meet the requirements of the patient's bending posture during surgery, the operation is more convenient.

It should be noted that the upper end and the lower end of the left subsection 5121 are connected by a spacer plate in the middle, and the two ends of the spacer plate are respectively rotatably connected with the upper end and the lower end of the left subsection 5121 through a rotating shaft, which makes the left subsection The adjustment of the bending angle of 5121 is simpler and the patient feels more comfortable. The bending method of the right subsection 5122 is the same as that of the left subsection 5121, which will not be repeated here.

Further preferably, the support frame 52 is provided with a placement frame 7, and the placement frame 7 is located on the lower side of the left subsection 5121 or the right subsection 5122, which helps to save space in the operating room and makes the layout of each device more reasonable. Of course, The support frame 52 can also be arranged above the operating bed 5, and the location of the support frame 52 can be set according to the layout of the operating room and the needs of the operation.

In the highly integrated orthopedic surgical robot provided in this embodiment, the imaging equipment 2, the actuator 3, the monitoring equipment 4, the display screen 6 and other equipment are respectively connected to the control system circuit, and the actuator 3 and the imaging equipment 2 are installed in the surgical robot. Bed 5, which integrates imaging equipment 2, actuator 3, control system, display screen 6 and other equipment into one, not only reduces data transmission and position switching between different equipment, greatly saves operating room space, and reduces operating It also greatly improves the reliability of the robotic surgery system in orthopedic surgery.

In addition, this highly integrated orthopedic surgical robot greatly optimizes the surgical process, and the operation is simpler. All surgical operations can be completed on one workbench. , Imaging equipment 2 scanning, image registration, imaging equipment 2 removal, surgical tool guidance, postoperative re-imaging equipment 2 to confirm the effect and other operations. At the same time, this highly integrated orthopedic surgical robot technically uses integrated data lines and power lines to realize the interconnection of circuits and power supplies of various parts of the orthopedic robot, and a control system is set up in the robot control part to achieve unified control and greatly improve the integration.

Example 3

This embodiment provides another highly integrated orthopedic surgical robot, and the same parts as those in Embodiment 1 will not be repeated here, and only the different parts will be introduced below.

As shown in FIG. 8 , the multi-degree-of-freedom support 8 is installed on the operating bed 5 , and the multi-degree-of-freedom support 8 is slidably connected to the operating bed 5 , and the multi-degree-of-freedom support 8 is connected to the control system circuit.

In this embodiment, the imaging device 2 is a large C-arm X-ray machine, and the C-arm X-ray machine is installed on the multi-degree-of-freedom support 8; the multi-degree-of-freedom support 8 drives the imaging device 2 to move to the operating room under the control of the control system area to scan the patient. The structure and function of the multi-degree-of-freedom support 8 are similar to the multi-degree-of-freedom mechanical arm 31, which is used to bring the C-arm X-ray machine to the operation area to scan the patient under the control of the control system. The C-arm X-ray machine is separated from the actuator 3, and the C-arm X-ray machine is driven by the multi-degree-of-freedom bracket 8 to move along the track 11 of the operating bed 5, and can stay at the bed end of the operating bed 5 and can be moved to the operation area for operation. X-ray scan.

It should be noted that the imaging device 2 and the actuator 3 are respectively located on the rails 11 on both sides of the operating bed 5, and the movement of the imaging device 2 and the actuator 3 do not interfere with each other, which is more convenient for the control of various procedures of orthopedic surgery.

It needs to be added that the C-arm X-ray machine consists of a C-shaped frame, a tube for generating X-rays, an image intensifier for collecting images, a CCD camera, and a workstation with image processing. It is mainly used for various Angiography, photography and other work in surgery. The C-arm X-ray machine can be divided into small C, medium C and large C according to the size of its own volume. The use of the three varies according to the type of operation. The connection structure is improved to meet the needs of various orthopedic operations.

In this embodiment, the moving track 11 of the C-arm X-ray machine can be arranged under the bed body 51 of the operating bed 5, but can also be arranged above the bed body 51 according to the actual needs of the operation, so as to be more optimized. The spatial layout of the operating room.

In the highly integrated orthopedic surgical robot provided in this embodiment, the imaging equipment 2, the actuator 3, the monitoring equipment 4, the display screen 6 and other equipment are respectively connected to the control system circuit, and the actuator 3 and the imaging equipment 2 are installed in the surgical robot. Bed 5, which integrates imaging equipment 2, actuator 3, control system, display screen 6 and other equipment into one, not only reduces data transmission and position switching between different equipment, greatly saves operating room space, and reduces operating It also greatly improves the reliability of the robotic surgery system in orthopedic surgery.

In addition, this highly integrated orthopedic surgical robot greatly optimizes the surgical process, and the operation is simpler. All surgical operations can be completed on one workbench. , Imaging equipment 2 scanning, image registration, imaging equipment 2 removal, surgical tool guidance, postoperative re-imaging equipment 2 to confirm the effect and other operations. At the same time, this highly integrated orthopedic surgical robot technically uses integrated data lines and power lines to realize the interconnection of circuits and power supplies of various parts of the orthopedic robot, and a control system is set up in the robot control part to achieve unified control and greatly improve the integration.

Although the present invention has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.

Claims (10)

1. A highly integrated orthopedic surgical robot, characterized in that, the highly integrated orthopedic surgical robot comprises a robot body, an imaging device, an actuator, a monitoring device, an operating bed, a control system and a display screen, and the display screen is installed In the robot body, the control system is arranged inside the robot body, and the display screen is connected to the control system circuit; The imaging device is connected to the control system circuit, and is used to scan the patient on the operating bed and send the scanned image to the control system; The monitoring device is connected to the control system circuit, and the monitoring device is used to monitor the position of the actuator and the patient and transmit the monitoring information to the control system; The actuator is fixed on the operating bed and is slidably connected to the operating bed, the surgical tool is installed on the actuator, and the actuator is connected to the control system circuit; The control system controls the actuator according to the scanned images and monitoring information, and the actuator uses surgical tools to operate on the patient. 2. The highly integrated orthopedic surgery robot according to claim 1, wherein the actuator is a multi-degree-of-freedom mechanical arm and a control box, and the freedom-degree mechanical arm and the control box are respectively connected to the control box. system circuit connection; The multi-degree-of-freedom mechanical arm is installed on the control box; the control box is installed on the operating bed, and the control box is slidingly connected to the operating bed. 3. The highly integrated orthopedic surgical robot according to claim 2, wherein the operating bed is provided with a placement frame, and the imaging equipment is movably mounted on the placement frame; Under the control of the control system, the actuator grabs the imaging device on the rack and moves to the operation area to scan the patient. 4. The highly integrated orthopedic surgery robot according to claim 3, wherein the operating bed comprises a bed body and a support frame, and the bed body is fixed on the top of the support frame; The two placement frames are respectively arranged on the front side and the rear side of the support frame, and the left and right sides of the bottom of the support frame are respectively provided with rails; The actuator is installed on the track. 5. The highly integrated orthopedic surgical robot according to claim 3, wherein the operating bed comprises a bed body and a support frame, the bed body is fixed on the top of the support frame, and the bottom of the support frame The left side and the right side are respectively provided with the track for installing the actuator; The bed body includes an upper subsection and a lower subsection, and the lower subsection includes a left subsection and a right subsection arranged side by side; The left subsection and the right subsection are respectively rotatably connected to the upper subsection, and an included angle between the left subsection and the right subsection is adjustable. 6. The highly integrated orthopedic surgery robot according to claim 5, wherein the left subsection can be bent along its width direction, and the bending angle is adapted to the bending arc of the patient's left lower limb; The right subsection can be bent along its width direction, and the bending angle is adapted to the bending arc of the patient's right lower limb. 7. The highly integrated orthopedic surgical robot according to claim 5, wherein the support frame is provided with a placement frame, and the placement frame is located on the lower side of the left subsection or the right subsection. 8. The highly integrated orthopedic surgical robot according to claim 1, wherein the highly integrated orthopedic surgical robot further comprises a multi-degree-of-freedom bracket; The multi-degree-of-freedom bracket is installed on the operating bed, and the multi-degree-of-freedom bracket is slidingly connected to the operating bed, and the multi-degree-of-freedom bracket is connected to the control system circuit; The imaging device is mounted on the multi-degree-of-freedom bracket; Under the control of the control system, the multi-degree-of-freedom support drives the imaging device to move to the operation area to scan the patient. 9. The highly integrated orthopedic surgical robot according to claim 1, wherein the highly integrated orthopedic surgical robot also includes a multi-degree-of-freedom support arm, the multi-degree-of-freedom support arm is mounted on the robot body, and the The multi-degree-of-freedom support arm is connected to the control system circuit; The monitoring device is installed on the multi-degree-of-freedom support arm, and the monitoring device moves under the drive of the multi-degree-of-freedom support arm. 10. The highly integrated orthopedic surgical robot according to claim 1, wherein the highly integrated orthopedic surgical robot also includes walking wheels, a plurality of walking wheels are all arranged on the bottom of the robot body, and the walking The wheels are used to drive the robot body to move.