CN110623731A

CN110623731A - High-integration orthopaedic surgery robot

Info

Publication number: CN110623731A
Application number: CN201911062655.0A
Authority: CN
Inventors: 吴金华
Original assignee: Beijing Nuoying Medical Technology Co Ltd
Current assignee: Beijing Nuoying Medical Technology Co Ltd
Priority date: 2019-11-03
Filing date: 2019-11-03
Publication date: 2019-12-31

Abstract

The invention discloses a high-integration orthopaedic surgery robot, which comprises a robot body, an imaging device, an executing mechanism, a monitoring device, an operating table, a control system and a display screen, wherein the control system is arranged in the robot body; the image equipment is connected with the control system circuit; the monitoring equipment is in circuit connection with the control system; the actuating mechanism is fixed in the operation table and is in sliding connection with the operation table, the operation tool is installed on the actuating mechanism, and the actuating mechanism is in circuit connection with the control system. The high-integration orthopaedic surgery robot disclosed by the invention is reasonable in structural design, integrates the imaging equipment, the executing mechanism, the control system and the like into a whole, reduces data transmission and position switching among different equipment, greatly saves the space of an operating room, optimizes the operation working process and reduces the operation difficulty.

Description

High-integration orthopaedic surgery robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a high-integration orthopaedic surgery robot.

Background

In recent years, the orthopaedic surgical robot is widely applied to clinical use at home and abroad, and has the characteristics of high precision, micro-wound, rapidness and the like, so that the orthopaedic surgical robot not only becomes a powerful assistant for doctors at present, but also has more possibility for orthopaedic surgery in the future. The working principle of the existing orthopedic surgery robot is mainly based on a navigation technology, and is assisted by a multi-degree-of-freedom mechanical arm as an executing mechanism, and the operation guidance and operation are completed by matching with preoperative or intraoperative imaging equipment. Therefore, imaging devices (such as a C-arm), robots, operating tables, other monitoring and auxiliary devices, etc. are all necessary devices for robotic orthopedic surgery.

However, in the existing orthopaedic surgical robot, the robot is not only independent of the imaging device but also independent of the operating table, and various devices need to be connected with each other and work cooperatively. Because different devices are from different manufacturers and run under different operating systems, the problems of connection and switching among different devices are more, which not only causes the narrow operation space to be crowded, but also seriously affects the operation effect and the execution efficiency, and also seriously restricts the rapid development of the orthopaedic operation robot technology to a certain extent.

Disclosure of Invention

Therefore, the invention provides a high-integration orthopaedic surgery robot, which aims to solve the problems of high operation difficulty and low execution efficiency caused by mutual independence of imaging equipment, a robot, an operating bed and other equipment of the orthopaedic surgery robot in the prior art.

In order to achieve the above purpose, the invention provides the following technical scheme:

the invention provides a high-integration orthopaedic surgery robot, which comprises a robot body, an imaging device, an executing mechanism, a monitoring device, an operating table, a control system and a display screen, wherein the display screen is installed on the robot body, the control system is arranged in the robot body, and the display screen is in circuit connection with the control system;

the imaging equipment is connected with the control system circuit and used for scanning the patient on the operating table and transmitting the scanned image to the control system;

the monitoring equipment is in circuit connection with the control system and is used for monitoring the positions of the actuating mechanism and the patient and transmitting monitoring information to the control system;

the executing mechanism is fixed on the operating table and is in sliding connection with the operating table, the surgical tool is installed on the executing mechanism, and the executing mechanism is in circuit connection with the control system;

the control system controls the executing mechanism according to the scanning image and the monitoring information, and the executing mechanism performs operation on the patient by using the operation tool.

Preferably, the executing mechanism is a multi-degree-of-freedom mechanical arm and a control box, and the multi-degree-of-freedom mechanical arm and the control box are respectively connected with the control system circuit;

the multi-degree-of-freedom mechanical arm is arranged on the control box; the control box install in the operation table, just the control box with operation table sliding connection.

Preferably, the operating table is provided with a placing frame, and the imaging device is movably mounted on the placing frame;

the actuating mechanism grabs the imaging equipment on the placing frame under the control of the control system and moves the imaging equipment to an operation area to scan a patient.

Preferably, the operating table comprises a table body and a support frame, wherein the table body is fixed at the top of the support frame;

the two placing racks are respectively arranged on the front side and the rear side of the supporting frame, and the left side and the right side of the bottom of the supporting frame are respectively provided with a track;

the actuating mechanism is mounted to the track.

Preferably, the operating table comprises a table body and a support frame, the table body is fixed on the top of the support frame, and the left side and the right side of the bottom of the support frame are respectively provided with a track for mounting the actuating mechanism;

the bed body comprises an upper subsection and a lower subsection, and the lower subsection comprises a left subsection and a right subsection which are arranged side by side;

the left subsection and the right subsection are respectively connected with the upper subsection in a rotating mode, and an included angle between the left subsection and the right subsection is adjustable.

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

the right subsection can be bent along the width direction of the right subsection, and the bending angle is suitable for the bending radian of the right lower limb of the patient.

Preferably, the support frame is provided with a placing frame, and the placing frame is located on the lower side of the left or right branch part.

Preferably, the high-integration orthopaedic surgical robot further comprises a multi-degree-of-freedom bracket;

the multi-degree-of-freedom bracket is mounted on the operating bed, is connected with the operating bed in a sliding manner and is connected with the control system circuit;

the imaging equipment is arranged on the multi-degree-of-freedom bracket;

the multi-degree-of-freedom support drives the imaging equipment to move to an operation area under the control of the control system to scan the patient.

Preferably, the high-integration orthopaedic surgery robot further comprises a multi-degree-of-freedom support arm, the multi-degree-of-freedom support arm is mounted on the robot body, and the multi-degree-of-freedom support arm is in circuit connection with the control system;

the monitoring equipment is arranged on the multi-freedom-degree supporting arm and moves under the driving of the multi-freedom-degree supporting arm.

Preferably, the high-integration orthopedic surgery robot further comprises a walking wheel, a plurality of walking wheels are arranged at the bottom of the robot body, and the walking wheel is used for driving the robot body to move.

The invention has the following advantages:

the invention provides a high-integration orthopaedic surgery robot which comprises a robot body, an imaging device, an executing mechanism, a monitoring device, an operating bed, a control system and a display screen. The device comprises an image device, an execution mechanism, a monitoring device, a display screen and the like, wherein the image device, the execution mechanism, the monitoring device, the display screen and the like are respectively in circuit connection with a control system, and the execution mechanism and the image device are both installed on the operating table.

In addition, the highly integrated orthopedic surgery robot greatly optimizes the surgery process, is simpler to operate and control, can complete all operations and controls on one workbench, and effectively avoids operations such as patient operating table positioning, robot positioning, image equipment scanning, image registration, image equipment moving away, surgical tool guiding, postoperative image equipment re-moving confirming effect and the like in the orthopedic surgery. Meanwhile, the highly integrated orthopedic surgery robot technically realizes the interconnection of circuits and power supplies of all parts of equipment of the orthopedic robot by using integrated data lines and power lines, and a control system is arranged at a robot control part to realize unified control, thereby greatly improving the integration level.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, shall fall within the scope covered by the technical contents disclosed in the present invention.

Fig. 1 is a schematic structural diagram of a highly integrated orthopaedic surgical robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an operating bed of a highly integrated orthopaedic surgical robot according to embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of an actuator of a highly integrated orthopaedic surgical robot according to embodiment 1 of the present invention;

fig. 4 is a schematic structural diagram illustrating a placement state of an imaging device of a highly integrated orthopaedic surgical robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram illustrating a scanning state of an imaging device of a highly-integrated orthopaedic surgical robot according to embodiment 1 of the present invention;

fig. 6 is a schematic structural diagram of an operating bed of a highly integrated orthopaedic surgical robot according to embodiment 2 of the present invention;

fig. 7 is a reference view of a use state of an operating bed of a highly integrated orthopaedic surgical robot according to embodiment 2 of the present invention;

fig. 8 is a schematic structural diagram illustrating a scanning state of an imaging device of a highly-integrated orthopaedic surgical robot according to embodiment 3 of the present invention;

in the figure: 1. a robot body; 2. an image device; 3. an actuator; 31. a multi-degree-of-freedom mechanical arm; 32. a control box; 4. monitoring equipment; 5. an operating bed; 51. a bed body; 511. an upper subsection; 512. a lower subsection; 5121. a left subsection; 5122. a right subsection; 52. a support frame; 6. a display screen; 7. placing a rack; 8. a multi-degree-of-freedom bracket; 9. a multi-degree-of-freedom support arm; 10. a traveling wheel; 11. a track.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1, the present embodiment provides a highly integrated orthopaedic surgical robot, which includes a robot body 1, an imaging device 2, an executing mechanism 3, a monitoring device 4, an operating table 5, a control system and a display screen 6, wherein the display screen 6 is installed in the robot body 1, the control system is disposed inside the robot body 1, and the display screen 6 is electrically connected to the control system.

In the present embodiment, the imaging device 2 is electrically connected to the control system for scanning the patient on the operating table 5 and transmitting the scanned image to the control system. The imaging device 2 is a mobile X-ray machine which is used for scanning two-dimensional and three-dimensional images of a patient, and the control system controls the execution mechanism 3 to perform operation on the patient according to the scanned images.

In particular, the monitoring device 4 is in circuit connection with the control system, the monitoring device 4 being adapted to monitor the position of the actuator 3 and the patient and to transmit monitoring information to the control system. The monitoring device 4 can be but is not limited to a navigation camera, the navigation camera is an infrared or visible light camera, the navigation camera integrates control software and is in circuit connection with a control system, the monitoring device 4 is similar to human eyes and used for positioning the executing mechanism 3 and the position of a patient, and the monitoring device 4 is helpful for ensuring the smooth proceeding of the orthopedic surgery.

More specifically, the actuator 3 is fixed to the operating table 5 and slidably connected to the operating table 5, the surgical tool is mounted to the actuator 3, and the actuator 3 is electrically connected to the control system.

As shown in fig. 3, the actuator 3 is a multi-degree-of-freedom mechanical arm 31 and a control box 32, and the multi-degree-of-freedom mechanical arm and the control box 32 are respectively connected with a control system circuit; the multi-degree-of-freedom mechanical arm 31 is mounted on the control box 32; the control box 32 is installed on the operating table 5, and the control box 32 is connected with the operating table 5 in a sliding manner, wherein the control box 32 is connected with the control system circuit through a data line and a power line. The control box 32 contains a driving motor and a control device of the multi-degree-of-freedom mechanical arm 31, and the driving motor is used for driving the control box 32 to drive the multi-degree-of-freedom mechanical arm 31 to move along the track 11 of the operating table 5. The control device of the multi-degree-of-freedom mechanical arm 31 is in circuit connection with the control system, and the control system controls the stretching and bending radians and positions of the multi-degree-of-freedom mechanical arm 31, so that multi-degree-of-freedom motion is realized.

It should be noted that, in the present invention, the control system is a control core of the whole system, and the control system is used for controlling the actuator 3 to move along the operating table 5 so as to complete the operation; in particular to control the multi-degree-of-freedom mechanical arm 31 to move in the operation, capture the imaging device 2 and drive the imaging device 2 to complete the scanning exposure and other actions.

In the present embodiment, the control system controls the actuator 3 according to the scanned image and the monitoring information, and the actuator 3 performs the operation on the patient using the surgical tool.

Preferably, the operating table 5 is provided with a placing frame 7, and the imaging device 2 is movably mounted on the placing frame 7. When the scanning starts, the executing mechanism 3 grabs the image equipment 2 on the placing frame 7 under the control of the control system and moves to the operation area to scan the patient, after the scanning is completed, the executing mechanism 3 drives the image equipment 2 to move to the placing frame 7 and place the image equipment 2 on the placing frame 7 under the control of the control system, so that the image equipment 2 can be placed at ordinary times conveniently, the executing mechanism 3 can also grab the patient under the control of the control system when the patient is scanned conveniently, and meanwhile, the executing mechanism 3 can place the image equipment 2 back under the control of the control system after the scanning is completed, thereby optimizing the layout of each equipment in the operating room and greatly saving the space of the operating room.

It should be noted that the operation table 5 is a very important component in the orthopedic surgery, and as long as the integral operation table 5 is introduced in the present embodiment, the integral operation table 5 is mainly applied to the surgical types of the spine, hip joint, and the like.

As shown in fig. 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; the two placing racks 7 are respectively arranged on the front side and the rear side of the supporting frame 52, and the imaging device 2 can be placed on the placing rack 7 on the front side as required or on the placing rack 7 on the rear side as required; the left side and the right side of the bottom of the support frame 52 are respectively provided with a track 11, the actuating mechanism 3 is installed on the track 11, and the actuating mechanism 3 moves back and forth along the track 11 under the control of the control system, so that the scanning process or the operation of the patient is completed.

Referring to fig. 4 and 5, in the present embodiment, the surgical tool and the imaging device 2 share the same actuator 3. The imaging device 2 is a key component of the orthopedic robot, and is an important embodiment of high integration. The imaging device 2 can be but not limited to a small C-shaped arm X-ray machine, one C-shaped arm X-ray machine is used as a scanning tool and is placed on a placing rack 7 at one end of the operating table 5, the multi-degree-of-freedom mechanical arm 31 of the executing mechanism 3 grabs the C-shaped arm X-ray machine and moves the C-shaped arm X-ray machine to an operating area, the C-shaped arm X-ray machine finishes three-dimensional or two-dimensional image scanning and transmits a scanning image to the control system, and the control system images the scanning image on the display screen 6 for operation planning and. After the image scanning of the patient is completed, the multi-degree-of-freedom mechanical arm 31 sends the C-shaped arm X-ray machine back to the placing frame 7 and then returns to the operation area, the corresponding operation tool is installed, and the subsequent operation work is continuously completed. The C-shaped arm X-ray machine works in a traditional power supply mode, is provided with a charging power supply, can work by being separated from a network power supply, and supports wireless image transmission. Of course, the C-arm X-ray machine movement scan can also be achieved manually.

It should be noted that the C-arm X-ray machine is placed on the placing frame 7 of the operating table 5, and forms an integrated structure with the operating table 5, and the C-arm X-ray machine can move along the direction of the operating table 5 to reach and move out of the operating area, so that the spatial structure of the operating room is optimized well, and the operation flow is simplified.

Preferably, the high-integration orthopaedic surgery robot further comprises a multi-degree-of-freedom support arm 9, the multi-degree-of-freedom support arm 9 is installed on the robot body 1, and the multi-degree-of-freedom support arm 9 is in circuit connection with the control system; the monitoring device 4 is mounted on the multi-degree-of-freedom support arm 9, and the monitoring device 4 moves under the driving of the multi-degree-of-freedom support arm 9. The multi-degree-of-freedom supporting arm 9 can move and rotate to different positions and angles under the control of the control system, the navigation camera can realize real-time tracking of the position of the executing mechanism 3 and the position of a patient according to the navigation principle, monitoring information is transmitted to the control system, the control system controls the executing mechanism 3 to perform an operation on the patient, and the operation process is simpler.

Preferably, high integration orthopedic surgery robot still includes walking wheel 10, and a plurality of walking wheels 10 all set up in the bottom of robot body 1, and walking wheel 10 is used for driving robot body 1 and removes, and this has made things convenient for robot body 1's removal widely, also makes things convenient for the operation and the control to patient's operation process.

In this embodiment, the robot body 1 is in the form of a trolley, four wheels are provided for facilitating movement, hardware and software of a control system are installed in the trolley, one or more touch display screens 6 are provided, the display screens 6 are used for surgical planning and control, and the imaging device 2, the execution mechanism 3, the monitoring device 4 and the like are controlled by the control system so as to complete a surgical operation process more accurately.

It should be added that the mechanical 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 adopts a mechanical electronic device with anthropomorphic arm, wrist and hand functions; it can move any object or tool according to the time-varying requirement of the space pose (position and posture), thereby completing the operation requirement of a certain operation process, such as clamping the image equipment 2 or operation tools. The application field of mechanical arms in the robot is more common, and the structure is also more common. The structure and the working principle of the freedom degree mechanical arm, the multiple freedom degree supporting arm 9 and the multiple freedom degree support 8 adopt the mechanical arm in the prior art, and the mechanical arm, the multiple freedom degree supporting arm and the multiple freedom degree support are used for bearing related equipment components and enabling the related equipment to be in the position and the angle required by the operation, so that the operation process is convenient to implement.

The high-integration-level orthopaedic surgery robot provided by the embodiment, wherein the imaging device 2, the executing mechanism 3, the monitoring device 4, the display screen 6 and other devices are respectively in circuit connection with the control system, and the executing mechanism 3 and the imaging device 2 are both installed on the operating table 5, so that the imaging device 2, the executing mechanism 3, the control system, the display screen 6 and other devices are integrated into a whole, thereby not only reducing data transmission and position switching among different devices, greatly saving the space of an operating room, reducing the operation difficulty, but also greatly improving the reliability of the robotic surgery system in orthopaedic surgery.

In addition, the highly integrated orthopedic surgery robot greatly optimizes the surgery process, is simpler to operate and control, can complete all operations and controls on one workbench, and effectively avoids operations of positioning of the patient operating bed 5, positioning of the robot, scanning of the imaging device 2, image registration, moving of the imaging device 2, guiding of surgical tools, confirmation of effects of moving of the imaging device 2 again after surgery and the like in the orthopedic surgery. Meanwhile, the highly integrated orthopedic surgery robot technically realizes the interconnection of circuits and power supplies of all parts of equipment of the orthopedic robot by using integrated data lines and power lines, and a control system is arranged at a robot control part to realize unified control, thereby greatly improving the integration level.

Example 2

This embodiment provides another highly integrated orthopaedic surgical robot, and the same parts as those in embodiment 1 will not be described herein again, and only different parts will be described below.

Referring to fig. 1 to 5, in the present embodiment, the operating table 5 includes a table body 51 and a support frame 52, the table body 51 is fixed on the top of the support frame 52, the left side and the right side of the bottom of the support frame 52 are respectively provided with a rail 11 for installing the actuator 3, and the rail 11 facilitates the movement of the actuator 3.

It should be noted that the operation table 5 is a very important component in an orthopedic operation, and as long as the split type operation table is described in this embodiment, the split type operation table 5 is mainly used for operations related to lower limbs, including but not limited to operations of ankle, knee joint, tibia, fibula, femur, and the like.

As shown in fig. 6 and 7, the bed body 51 includes an upper section 511 and a lower section 512, and the lower section 512 includes a left section 5121 and a right section 5122 arranged side by side. The upper section 511 is adapted to receive the upper body of the patient, the left section 5121 is adapted to receive the left leg of the patient, and the right section 5122 is adapted to receive the right leg of the patient.

In this embodiment, the left subsection 5121 and the right subsection 5122 are rotatably connected to the upper subsection 511, and the included angle between the left subsection 5121 and the right subsection 5122 is adjustable, which greatly facilitates the patient to place a comfortable surgical posture and facilitates the surgical treatment of the patient by the actuator 3.

Preferably, the left subsection 5121 can be bent along its width, the bending angle being adapted to the curvature of the patient's left lower limb; the right section 5122 can be bent along its width at an angle that accommodates the curvature of the patient's right lower limb. The left subsection 5121 or the right subsection 5122 can be bent to meet the requirement of the bending body position of a patient during operation, so that the operation is more convenient.

It should be noted that the upper end and the lower end of the left part 5121 are connected by a middle partition plate, and the two ends of the partition plate are respectively rotatably connected with the upper end and the lower end of the left part 5121 by a rotating shaft, which makes the adjustment of the bending angle of the left part 5121 easier and makes the patient feel more comfortable, and the bending manner of the right part 5122 is the same as that of the left part 5121, and will not be described herein again.

It is further preferable that the support frame 52 is provided with a placing frame 7, and the placing frame 7 is located at the lower side of the left subsection 5121 or the right subsection 5122, which helps to save space in the operating room, so that the layout of each device is more reasonable, of course, the support frame 52 may also be arranged above the operating bed 5, and the position where the support frame 52 is arranged may be specifically set according to the layout in the operating room, the needs of the operation, and the like.

Example 3

As shown in fig. 8, the multi-degree-of-freedom support 8 is attached to the operating bed 5, the multi-degree-of-freedom support 8 is slidably connected to the operating bed 5, and the multi-degree-of-freedom support 8 is electrically connected to the control system.

In this embodiment, the imaging device 2 is a large C-arm X-ray machine, which is mounted on the multi-degree-of-freedom support 8; the multi-degree-of-freedom support 8 drives the imaging device 2 to move to an operation area under the control of the control system to scan the patient. The multi-degree-of-freedom bracket 8 is similar to the multi-degree-of-freedom mechanical arm 31 in structure and function and is used for bringing a C-shaped arm X-ray machine to an operation area to scan a patient under the control of a control system. The C-shaped arm X-ray machine is separated from the executing mechanism 3, is driven by the multi-freedom-degree support 8 to move along the track 11 of the operating table 5, can stay at the bed end of the operating table 5 and can move to an operating area for ray scanning.

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 table 5, and the movement of the imaging device 2 and the movement of the actuator 3 do not interfere with each other, so that the control of each flow of the orthopedic surgery is more convenient.

It should be noted that the C-arm X-ray machine is mainly used for various operations such as radiography and photography, and includes a C-shaped frame, a bulb for generating X-rays, an image intensifier and a CCD camera for acquiring images, and a workstation for processing images. The C-shaped arm X-ray machine can be divided into a small C, a medium C and a large C according to the size of the volume of the C-shaped arm X-ray machine, the use of the small C, the medium C and the large C is different according to different operation types, and the connecting structure of the C-shaped arm X-ray machine is improved according to different operations, so that the requirements of different orthopedic operations are met.

In the present embodiment, the track 11 for the C-arm X-ray machine to move may be disposed below the bed body 51 of the operating bed 5, or may be disposed above the bed body 51 according to the actual needs of the operation, so as to further optimize the spatial layout in the operating room.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The high-integration orthopaedic surgical robot is characterized by comprising a robot body, an imaging device, an executing mechanism, a monitoring device, an operating bed, a control system and a display screen, wherein the display screen is installed on the robot body, the control system is arranged in the robot body, and the display screen is in circuit connection with the control system;

2. The highly integrated orthopaedic surgical robot of claim 1, wherein the actuator is a multi-degree-of-freedom robot arm and a control box, the multi-degree-of-freedom robot arm and the control box are respectively in circuit connection with the control system;

3. The highly integrated orthopaedic surgical robot of claim 2, wherein the operating bed is provided with a rack, the imaging device is movably mounted to the rack;

4. The highly integrated orthopaedic surgical robot of claim 3, wherein the operating bed comprises a bed body and a support frame, the bed body is fixed on top of the support frame;

the actuating mechanism is mounted to the track.

5. The highly integrated orthopaedic surgical robot of 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 left side and the right side of the bottom of the support frame are respectively provided with a track for mounting the actuator;

6. A highly integrated orthopaedic surgical robot according to claim 5, wherein the left branch is bendable in its width direction at an angle adapted to the curvature of the left lower limb of the patient;

7. A highly integrated orthopaedic surgical robot according to claim 5, wherein said support frame is provided with a rack located on the underside of the left or right section.

8. The high integration orthopaedic surgical robot of claim 1, further comprising a multiple degree of freedom gantry;

the imaging equipment is arranged on the multi-degree-of-freedom bracket;

9. The highly integrated orthopaedic surgical robot of claim 1, further comprising a multiple degree of freedom support arm mounted to the robot body and in circuit connection with the control system;

10. The high-integration orthopaedic surgical robot of claim 1, further comprising a plurality of walking wheels, wherein the walking wheels are disposed at the bottom of the robot body, and the walking wheels are used for driving the robot body to move.