CN111110316B

CN111110316B - Automatic bore bone device

Info

Publication number: CN111110316B
Application number: CN202010092100.7A
Authority: CN
Inventors: 程敏; 赵亚平; 王�锋; 梁海鹏
Original assignee: Nanjing Tuodao Medical Technology Co Ltd
Current assignee: Tuodao Medical Technology Co Ltd
Priority date: 2020-02-14
Filing date: 2020-02-14
Publication date: 2020-11-13
Anticipated expiration: 2040-02-14
Also published as: CN111110316A

Abstract

The invention discloses an automatic bone drilling device which comprises a feeding mechanism (3), a rotating mechanism (2) arranged on the feeding mechanism (3) and a Kirschner wire (1) arranged on the rotating mechanism (2); the rotary mechanism (2) is of a hollow structure, the Kirschner wire (1) is inserted into the rotary mechanism (2) and then fixed, and the inserting depth of the Kirschner wire (1) is adjustable. According to the invention, the rotating mechanism is arranged to be of a hollow structure, so that the length of the exposed operating part of the Kirschner wire can be adjusted, the operation is simple and convenient, and the disassembly and the assembly through bolts are not needed. In addition, the feeding mechanism and the rotating mechanism of the invention are also improved in structure, thereby greatly reducing the volume and the mass and realizing full-automatic operation of spinal drilling.

Description

Automatic bore bone device

Technical Field

The invention relates to the field of medical instruments, in particular to an automatic bone drilling device.

Background

The vertebral body strengthening technology is a technology for strengthening a vertebral body by injecting bone cement or artificial bones into a pathological vertebral body through percutaneous puncture under the guidance of a medical image. Most of the existing spinal bone drilling devices are manual, and the manual puncture device comprises a puncture needle, a working channel, a guide needle and a hand drill, wherein the puncture needle comprises a needle tube and a needle head inserted into the needle tube. During the puncture process, a doctor needs to cut a port on the skin of a patient; then the puncture needle is inserted into the focus of the patient, the needle head is taken out, and the needle tube is reserved; then the guide pin is inserted into the needle tube of the puncture needle, and the guide pin is reserved to take out the needle tube of the puncture needle; inserting the guide pin into the working channel along the guide pin, and taking out the guide pin; the hand drill is inserted into the working channel, penetrates into the bone and is taken out. The puncture mode not only causes too much trauma to patients, but also has tedious puncture process and overlong operation time.

Then, the automatic spine bone drilling device is invented, the existing Kirschner wire is clamped or fixedly arranged on the propelling mechanism by a bolt, and the guide rail type propelling mechanism is mainly adopted. Although the automatic bone drilling device greatly saves the operation time, the stability is not high due to the fact that the operation part of the Kirschner wire is too long, the clamping mode is easy to be weak, the bolt fixing mode is firm, but the Kirschner wire is a disposable instrument, and the bolt is too complex to assemble and disassemble. Meanwhile, when the robot is used for operating the full-automatic bone drilling device, the bone drilling device needs to be fixed on the mechanical arm for operation, the limitation of operating room environment is limited, the load of the mechanical arm is limited, and the existing guide rail type bone drilling device has the defects of large volume and large mass.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the defects, the invention provides the automatic bone drilling device, which adopts the cylindrical feeding mechanism, and arranges the rotating mechanism in the idle space in the cylindrical feeding mechanism, thereby greatly reducing the volume and the quality of the bone drilling device and realizing the full-automatic operation of spinal bone drilling.

The technical scheme is as follows:

an automatic bone drilling device comprises a feeding mechanism, a rotating mechanism arranged on the feeding mechanism and a Kirschner wire arranged on the rotating mechanism; the rotary mechanism is of a hollow structure, the Kirschner wire is inserted into the rotary mechanism and then fixed, and the inserting depth of the Kirschner wire can be adjusted.

The rotary mechanism comprises a threaded push rod, an intermediate threaded rod, a fixed sleeve, a drill chuck and a rotary motor for driving the threaded push rod to rotate, the fixed sleeve is of a hollow conical structure, one end of the fixed sleeve is provided with a clamping port for clamping the drill chuck, and the other end of the fixed sleeve is detachably connected with the intermediate threaded rod to form a frustum-shaped space; the middle threaded rod is of a hollow structure, and the threaded push rod penetrates through the middle threaded rod, extends into the frustum-shaped space and is in threaded fit connection with the middle threaded push rod; the threaded push rod is of a hollow structure, wherein the inner diameter of the hollow structure is larger than the outer diameter of the Kirschner wire; the drill chuck is arranged in a frustum-shaped space formed between the fixed sleeve and the intermediate threaded rod and is positioned at the front end of the threaded push rod.

The fixed sleeve is fixedly connected with the middle threaded rod through threads, and the direction of the external threads on the outer wall of the middle threaded rod is opposite to that of the internal threads on the inner wall of the middle threaded rod.

An intermediate ring is arranged between the threaded push rod and the drill chuck, and the aperture of the intermediate ring is larger than the outer diameter of the Kirschner wire.

The drill chuck comprises three conical clamping blocks, and the three conical clamping blocks are connected through springs.

The size of the clamping opening of the fixed sleeve is larger than the size of the front end of the drill chuck and smaller than the size of the rear end of the drill chuck.

The feeding mechanism comprises an internal thread cylinder, an external thread cylinder, a mounting seat and a feeding motor arranged on the mounting seat, and the thread cylinder is connected with the feeding motor through a transmission connecting piece; through threaded connection between an internal thread section of thick bamboo and the external screw thread section of thick bamboo, still the cover is equipped with the direction urceolus on the external screw thread section of thick bamboo, direction urceolus fixed mounting be in on the mount pad, its inner wall is equipped with the guide way the outer wall of an external screw thread section of thick bamboo is equipped with the guide block, the guide block card is in the guide way.

The external thread section of thick bamboo include external thread a lift section of thick bamboo and with the urceolus that external thread a lift section of thick bamboo is fixed, external thread a lift section of thick bamboo with the internal thread section of thick bamboo passes through threaded connection, just the length of external thread a lift section of thick bamboo is less than the length of urceolus.

The guide outer cylinder is further provided with two limiting sensors which are respectively used for acquiring information at two ends of the external thread cylinder, the limiting sensors send signals to the feeding motor after acquiring information at two ends of the external thread cylinder, and the feeding motor controls the external thread lifting cylinder to stop moving.

The tail end of the internal thread cylinder is further sleeved with a limiting ring used for limiting the movement of the external thread cylinder.

And scales are arranged on the guide outer cylinder.

And a motor shaft of the feeding motor is fixedly connected with the transmission connecting piece, and the transmission connecting piece is fixedly connected with the internal thread cylinder.

The feeding motor is connected with the transmission connecting piece through a synchronous belt pulley and drives the transmission connecting piece to rotate through the synchronous belt pulley; the transmission connecting piece is arranged on the mounting seat through a bearing, and a secondary synchronous belt wheel is fixedly connected with the transmission connecting piece on the mounting seat; the feeding motor is arranged below the transmission connecting piece on the mounting seat, a primary synchronous belt wheel connected with a motor shaft of the feeding motor is arranged on the mounting seat and on the same side of the secondary synchronous belt wheel, and the primary synchronous belt wheel is connected with the secondary synchronous belt wheel through a synchronous belt.

The feeding motor is connected with the transmission connecting piece through a chain; the transmission connecting piece is arranged on the mounting seat through a bearing, and a driven wheel is arranged on the mounting seat and is fixedly connected with the transmission connecting piece; the feeding motor is arranged below the transmission connecting piece on the mounting seat, a driving wheel connected with a motor shaft of the feeding motor is arranged on the same side of the mounting seat and the driven wheel, and the driving wheel is connected with the driven wheel through a chain.

The mounting seat is provided with a motor waist hole and at least one pair of symmetrical bolt waist holes, one side of the mounting seat is provided with an adjusting seat, and a motor shaft of the feeding motor penetrates through the motor waist hole and penetrates through the bolt waist hole through a bolt to be fixedly mounted with the adjusting seat; an adjusting threaded seat and an adjusting fixed seat are arranged on the other side of the mounting seat, and the adjusting threaded seat is fixedly mounted with the adjusting seat after a bolt penetrates through the bolt waist hole; the adjusting threaded seat is connected with the adjusting fixed seat through an adjusting bolt.

The feeding motor is connected with the transmission connecting piece through a gear; the transmission connecting piece is arranged on the mounting seat through a bearing, and a driven gear is arranged on the mounting seat and is fixedly connected with the transmission connecting piece; the feeding motor is arranged below the transmission connecting piece on the mounting seat, a driving gear connected with a motor shaft of the feeding motor is arranged on the mounting seat and on the same side of the driven gear, and the driving gear is meshed with the driven gear.

The automatic bone drilling device also comprises an isolating membrane used for wrapping all mechanisms except the Kirschner wire and the rotating mechanism; the isolating membrane is fixed at the tail end of the feeding mechanism through a buckle.

The isolating membrane is made of plastic.

The shape of the buckle is the same as the cross section of the outer cylinder of the feeding mechanism.

The buckle is in a circular ring shape or a rectangle shape with a hole in the middle or other shapes.

The edge of the buckle is provided with a boss extending towards the center direction, and the tail end of the feeding mechanism is provided with a groove corresponding to the boss for clamping the isolating membrane on the feeding mechanism.

The boss is a continuous boss surface or a plurality of spaced lugs.

The feeding mechanism is also of a hollow structure, and the Kirschner wire penetrates through the feeding mechanism and the rotating mechanism.

Has the advantages that: according to the invention, the rotating mechanism is arranged to be of a hollow structure, so that the length of the exposed operating part of the Kirschner wire can be adjusted, the operation is simple and convenient, and the disassembly and the assembly through bolts are not needed. In addition, the feeding mechanism and the rotating mechanism are structurally improved, the cylindrical feeding mechanism is adopted, and the rotating mechanism is arranged in an idle space in the cylindrical feeding mechanism, so that the weight is greatly reduced, and the full-automatic operation of spinal drilling can be realized.

Drawings

FIG. 1 is a block diagram of an automatic bone drilling device;

FIG. 2 is a cross-sectional view of a rotation mechanism of the autobone drill;

FIG. 3 is a structural view of a drill chuck;

FIG. 4 is an internal block diagram of a rotation mechanism of the automatic bone drilling device;

FIG. 5 is a cross-sectional view of a feed mechanism of the automatic bone drilling device;

FIG. 6 is a view of the structure of one side of the mounting base;

FIG. 7 is a schematic view of an adjustment block;

FIG. 8a is a block diagram of an intraoperative barrier-lined autodrill device;

FIG. 8b is an enlarged partial view of a sleeve septum of the autobone drill device;

FIG. 9a is a front view of the buckle;

FIG. 9b is a side view of the buckle;

in the figure, 1, a kirschner wire; 2. a rotation mechanism; 3. a feed mechanism; 4. a transition piece; 5. a mechanical arm;

2-1, fixing a sleeve; 2-2, a middle threaded rod; 2-3, a threaded push rod; 2-4, connecting pieces; 2-5, a rotating motor mounting base; 2-6, rotating the motor; 2-7, an intermediate ring; 2-8, a spring; 2-9, drilling;

3-1, a feeding motor; 3-2, adjusting the threaded seat; 3-3, adjusting the fixed seat; 3-4, mounting seats; 3-4-1, bolt waist holes; 3-4-2, motor waist holes; 3-5, an adjusting seat; 3-6, a primary synchronous belt pulley; 3-7, bottom cover; 3-8, a secondary synchronous pulley; 3-9, a clamp spring; 3-10, bearing cover; 3-11, a bearing; 3-12, a transmission connecting piece; 3-13, an internal thread cylinder; 3-14, an external thread lifting cylinder; 3-15, an outer cylinder; 3-16, guiding the outer cylinder; 3-17, a lower limit sensor; 3-18, an upper limit sensor; 3-19 and a limit ring.

Detailed Description

The invention is further elucidated with reference to the drawings and the embodiments.

Fig. 1 is a structural view of an automatic bone drilling device, and as shown in fig. 1, the automatic bone drilling device of the present invention comprises a kirschner wire 1, a rotating mechanism 2 and a feeding mechanism 3, wherein the feeding mechanism 3 is fixedly connected with a mechanical arm 5 through a transition piece 4, the rotating mechanism 2 is connected with an outer cylinder 3-15 of the feeding mechanism 3 through screws (without being limited to the connection), and the kirschner wire 1 is fixed on a drill chuck 2-9 of the rotating mechanism 2.

Fig. 2 is a sectional view of a rotating mechanism of the automatic bone drilling device, and as shown in fig. 2, the rotating mechanism 2 comprises a rotating motor 2-6, a connecting piece 2-4, a threaded push rod 2-3, an intermediate threaded rod 2-2, a fixed sleeve 2-1 and a drill chuck 2-9 for clamping a kirschner wire 1. The fixing sleeve 2-1 is a hollow conical structure, the front end of the fixing sleeve is provided with a clamping port for clamping a drill chuck 2-9, and the size of the clamping port is larger than the size of the front end of the drill chuck 2-9 and smaller than the size of the rear end of the drill chuck 2-9. The rear end of the fixed sleeve 2-1 is sleeved outside the middle threaded rod 2-2, and a frustum-shaped space is formed between the fixed sleeve and the middle threaded rod 2-2; the middle threaded rod 2-2 is of a hollow structure, an internal thread is arranged on the hollow structure, meanwhile, an external thread is arranged on the threaded push rod 2-3, the threaded push rod 2-3 and the middle threaded rod 2-2 are connected in a matched mode through the corresponding external thread and the internal thread, and the front end of the threaded push rod 2-3 penetrates through the middle threaded rod 2-2 and is arranged in a frustum-shaped space formed between the fixed sleeve 2-1 and the middle threaded rod 2-2; in the invention, the rear end of the fixed sleeve 2-1 is fixedly connected with the middle threaded rod 2-2 through threads, and the external threads on the middle threaded rod 2-2 are opposite to the internal threads of the hollow structure. In the invention, the threaded push rod 2-3 is a hollow structure, wherein the inner diameter of the hollow structure is larger than the outer diameter of the Kirschner wire 1; the drill chuck 2-9 is arranged in a frustum-shaped space formed between the fixed sleeve 2-1 and the middle threaded rod 2-2, a clamping opening of the drill chuck is arranged at the position of the clamping opening, the tail end of the threaded push rod 2-3 is provided with a middle ring 2-7, the threaded push rod 2-3 props against the drill chuck 2-9 through the middle ring 2-7, the aperture of the middle ring 2-7 is larger than the outer diameter of the Kirschner needle 1, and the threaded push rod 2-3 can apply force to the drill chuck 2-9 conveniently through the middle ring 2-7.

As shown in fig. 3, since the portion of the medical instrument that contacts the human body needs to be sterilized, the k-wire 1 needs to be easily detached, and the stability of the k-wire is also very important. In the invention, the drill chuck 2-9 comprises three clamping blocks, and adjacent clamping blocks in the three clamping blocks are connected through springs 2-8. When the threaded push rod 2-3 rotates clockwise relative to the middle threaded rod 2-2, the threaded push rod 2-3 pushes the middle ring 2-7, the spring 2-8 is extruded and deformed under the action of external force, and the size of a clamping opening of the drill chuck 2-9 can be changed, so that the drill chuck 2-9 clamps the Kirschner wire 1 along the clamping opening of the fixed sleeve 2-1; when the threaded push rod 2-3 rotates anticlockwise relative to the middle threaded rod 2-2, the threaded push rod 2-3 loosens the middle ring 2-7, the spring 2-8 returns to the original state under the elastic action of the spring, and the drill chuck 2-9 pushes the middle ring 2-7 to move under the restoring force action of the spring 2-8, so that the Kirschner wire 1 can be taken out freely, and the disassembly and assembly are convenient as shown in fig. 4. Because the threaded push rod 2-3 is of a hollow structure, the length of the Kirschner wire 1 left outside the drill chuck can be adjusted according to needs, and compared with the existing whole drill, the Kirschner wire does not shake in the operation, and the stability of drilling the bone is improved.

In the invention, the front end of the threaded push rod 2-3 is provided with external threads, the external diameter of the rear end of the threaded push rod is larger than that of the front end of the threaded push rod 2-3, namely, the rear end of the threaded push rod 2-3 and the front end of the threaded push rod 2-3 form a stepped structure for limiting the movement distance of the threaded push rod 2-3.

FIG. 5 is a cross-sectional view of a feeding mechanism of the automatic bone drilling device, as shown in FIG. 5, the feeding mechanism includes a mounting base 3-4, a feeding motor 3-1, a transmission connecting member 3-12, an internal thread cylinder 3-13, an external thread lifting cylinder 3-14, an external cylinder 3-15 and a guide external cylinder 3-16; the internal thread cylinder 3-13 is connected with a motor shaft of the feeding motor 3-1 through a transmission connecting piece 3-12 and is controlled to rotate through the feeding motor 3-1; the outer surface of the inner thread cylinder 3-13 is provided with threads, the outer thread lifting cylinder 3-14 is provided with inner threads, and the outer thread lifting cylinder 3-14 and the inner thread cylinder 3-13 are connected in a thread fit way and can move relatively; the outer barrel 3-15 is fixedly connected with the external thread lifting barrel 3-14, the guide outer barrel 3-16 is sleeved outside the outer barrel 3-15 and is fixed on the mounting seat 3-4, a guide groove for the movement of the outer barrel 3-15 is arranged in the guide outer barrel 3-16, a corresponding guide block is arranged on the outer surface of the outer barrel 3-15, the outer barrel 3-15 is matched with the guide groove in the guide outer barrel 3-16 through the guide block and carries out translational movement along the guide groove, and therefore the outer barrel 3-15 and the external thread lifting barrel 3-14 can be prevented from rotating along with the rotation of the internal thread barrel 3-13.

In the invention, a feed motor 3-1 is connected with a transmission connecting piece 3-12 through a synchronous belt wheel, and drives the transmission connecting piece 3-12 to rotate through the synchronous belt wheel. The transmission connecting piece 3-12 is arranged on the mounting seat 3-4 through a bearing 3-11, and the outer side of the mounting seat 3-4 is provided with a secondary synchronous belt wheel 3-8 fixedly connected with the transmission connecting piece 3-12; a feeding motor 3-1 is arranged on the mounting seat 3-4 below the transmission connecting piece 3-12, a primary synchronous belt wheel 3-6 connected with a motor shaft of the feeding motor 3-1 is arranged on the outer side of the mounting seat 3-4, and the primary synchronous belt wheel 3-6 is connected with a secondary synchronous belt wheel 3-8 through a synchronous belt.

In the invention, as shown in figure 6, a motor waist hole 3-4-2 is arranged on a mounting seat 3-4, at least one symmetrical bolt waist hole 3-4-1 is arranged above and below the motor waist hole 3-4-2, an adjusting seat 3-5 is arranged outside the mounting seat 3-4, the motor 3-1 passes through the motor waist hole 3-4-2, and passes through the bolt waist hole 3-4-1 above the motor waist hole 3-4-2 through a bolt to be connected with the adjusting seat 3-5 and mounted on the mounting seat 3-4; an adjusting threaded seat 3-2 is arranged below the feeding motor 3-1, and the adjusting threaded seat 3-2 passes through a bolt waist hole 3-4-1 below the motor waist hole 3-4-2 through a bolt to be connected with an adjusting seat 3-5 and installed on the installation seat 3-4, as shown in fig. 7; an adjusting fixed seat 3-3 is fixedly arranged on one side of the mounting seat 3-4, which is positioned on the feeding motor 3-1, and is positioned below the adjusting threaded seat 3-2, the adjusting threaded seat 3-2 is connected with the adjusting fixed seat 3-3 through an adjusting bolt, and the tensioning degree of the synchronous belt can be controlled through the tightness of the bolt. After the synchronous belt is loosened, the bolt between the feeding motor 3-1 and the adjusting seat 3-5 is loosened, then the adjusting bolt between the adjusting fixed seat 3-3 and the adjusting threaded seat 3-2 is tightened, the adjusting threaded seat 3-2 moves towards the adjusting fixed seat 3-3 and drives the adjusting seat 3-5 to move, then the feeding motor 3-1 and the main synchronous belt wheel 3-6 connected with the feeding motor also move together, and further the synchronous belt is adjusted, and the synchronous belt is fixed by the bolt after the synchronous belt is tightened.

In the present invention, the timing belt may be replaced with a chain, a gear, or the like, and is preferably a timing belt in view of minimizing noise.

In the invention, scales are arranged on the guide outer cylinder 3016 and are used for accurately controlling the insertion amount of the Kirschner wire when the inner thread cylinder 3-13 rotates to drive the outer cylinder 3-15 to advance.

In the invention, two ends of the wall of the guide outer cylinder 3-16 are respectively provided with a lower limit sensor 3-17 and a lower limit sensor 3-18, the lower limit sensor 3-17 and the upper limit sensor 3-18 collect signals of the external thread lifting cylinder 3-14 and send the signals to a control system of the feeding motor 3-1 after collecting the external thread lifting cylinder 3-14, when the outer cylinder 3-15 exceeds an area, the control system of the feeding motor 3-1 controls the feeding motor 3-1 to stop working, thereby being capable of cooperatively controlling the movement range of the outer cylinder 3-15 and ensuring the safety of automatic bone drilling, as shown in figure 5. As the safety of instruments is very important in the medical industry, the invention also arranges the limiting rings 3-19 at the tail ends of the internal thread cylinders 3-13, and when the sensors 3-18 fail, the movement of the external thread lifting cylinders 3-14 is limited by mechanical locking, thus greatly improving the safety of the bone drilling device.

In the invention, the bearing 3-11 is positioned between the transmission connecting piece 3-12 and the mounting seat 3-4, the bearing cover 3-10 is used for fixing the outer ring of the bearing 3-11, and the clamp spring 3-9 is used for fixing the inner ring of the bearing 3-11 to prevent the bearing from moving.

In the present invention, an outer case is further installed outside the guide outer cylinders 3 to 16 for providing protection to the entire feed mechanism.

During operation, since the medical device is sterilized when it contacts the body, the k-wire is preferably isolated from other components to prevent blood from splashing and contaminating other components during the operation. In order to solve the problem of isolating the kirschner wire from other parts of the bone drilling device, the bone drilling device further comprises an isolating membrane for wrapping the feeding mechanism 3, the transition piece 4 and the mechanical arm 5, wherein a buckle is arranged at the tail end of the feeding mechanism 3 and used for fixing the isolating membrane on the feeding mechanism 3, and the isolating membrane is made of plastic materials as shown in figures 8a and 8 b. A pinhole is arranged at the position of the isolating membrane at the rotating mechanism 2 and used for installing the Kirschner wire 1.

Fig. 9a and 9b are front and side views, respectively, of the clasp. The shape of the clip is the same as the cross-section of the outer cylinder 3-15 of the feeding mechanism 3, and in one embodiment, the clip is circular, and may also be rectangular with a hole in the middle or other shapes. Considering convenient to detach and can fix firm problem again, the edge of buckle has the boss that extends to the centre of a circle direction, and the boss can be continuous boss face, also can be a plurality of spaced lugs, is equipped with rather than corresponding recess at feed mechanism 3's outermost terminal for with the barrier film card on feed mechanism 3. The buckle and the plastic film are convenient to mount and dismount, the price is low, and resource waste caused by high price is avoided.

In order to facilitate the doctor to assist in manual operation in the automatic bone drilling process, the feeding motor 3-1 can adopt a hollow motor, the Kirschner wire penetrates through the whole device, and when the doctor needs manual operation in the process of operating the bone drilling device, the doctor can suspend automatic bone drilling and change the automatic bone drilling into manual operation, so that the safety of the bone drilling instrument is improved.

The automatic bone drilling device works in the following modes: 1. the feeding motor drives the feeding mechanism to move to drive the Kirschner wire to advance to a preset distance; 2. the motor drives the feeding mechanism and the rotating mechanism to move, and drives the Kirschner wire to rotate and move to the focus.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.

Claims

1. An automatic bone drilling device is characterized in that: comprises a feeding mechanism (3), a rotating mechanism (2) arranged on the feeding mechanism (3) and a Kirschner wire (1) arranged on the rotating mechanism (2); the rotating mechanism (2) is of a hollow structure, the Kirschner wire (1) is inserted into the rotating mechanism (2) and then fixed, and the insertion depth of the Kirschner wire (1) can be adjusted;

the rotary mechanism (2) comprises a threaded push rod (2-3), an intermediate threaded rod (2-2), a fixed sleeve (2-1), a drill chuck (2-9) and a rotary motor (2-7) for driving the threaded push rod to rotate, the fixed sleeve (2-1) is of a hollow conical structure, one end of the fixed sleeve is provided with a clamping port for clamping the drill chuck (2-9), and the other end of the fixed sleeve is detachably connected with the intermediate threaded rod (2-2) to form a frustum-shaped space; the middle threaded rod (2-2) is of a hollow structure, and the threaded push rod (2-3) penetrates through the middle threaded rod (2-2) and then extends into the frustum-shaped space and is connected with the middle threaded rod (2-2) in a threaded fit manner; the threaded push rod (2-3) is of a hollow structure, wherein the inner diameter of the hollow structure is larger than the outer diameter of the Kirschner wire (1); the drill chuck (2-9) is arranged in a frustum-shaped space formed between the fixed sleeve (2-1) and the intermediate threaded rod (2-2) and is positioned at the front end of the threaded push rod (2-3).

2. The automatic bone drilling device of claim 1, wherein: the fixing sleeve (2-1) is fixedly connected with the middle threaded rod (2-2) through threads, and the direction of the external threads on the outer wall of the middle threaded rod (2-2) is opposite to the direction of the internal threads on the inner wall of the middle threaded rod.

3. The automatic bone drilling device of claim 1, wherein: an intermediate ring (2-7) is arranged between the threaded push rod (2-3) and the drill chuck (2-9), and the aperture of the intermediate ring (2-7) is larger than the outer diameter of the Kirschner wire (1).

4. The automatic bone drilling device of claim 1, wherein: the drill chuck (2-9) comprises three conical clamping blocks, and the adjacent conical clamping blocks are connected through springs (2-8).

5. The automatic bone drilling device of claim 1, wherein: the size of the clamping opening of the fixed sleeve (2-1) is larger than the size of the front end of the drill chuck (2-9) and smaller than the size of the rear end of the drill chuck (2-9).

6. The automatic bone drilling device of claim 1, wherein: the feeding mechanism (3) comprises an internal thread cylinder (3-13), an external thread cylinder, a mounting seat (3-4) and a feeding motor (3-1) arranged on the mounting seat (3-4), and the thread cylinder (3-13) is connected with the feeding motor (3-1) through a transmission connecting piece (3-12); the inner thread cylinder (3-13) is in threaded connection with the outer thread cylinder, the outer thread cylinder is further sleeved with a guide outer cylinder (3-16), the guide outer cylinder (3-16) is fixedly installed on the installation seat (3-4), the inner wall of the guide outer cylinder is provided with a guide groove, the outer wall of the outer thread cylinder is provided with a guide block, and the guide block is clamped in the guide groove.

7. The automatic bone drilling device of claim 6, wherein: the external thread cylinder comprises an external thread lifting cylinder (3-14) and an outer cylinder (3-15) fixed with the external thread lifting cylinder (3-14), the external thread lifting cylinder (3-14) is in threaded connection with the internal thread cylinder (3-13), and the length of the external thread lifting cylinder (3-14) is smaller than that of the outer cylinder (3-15).

8. The automatic bone drilling device of claim 6, wherein: the guide outer cylinder (3-16) is further provided with two limiting sensors which are respectively used for acquiring the information of the tail end of the external thread cylinder, the limiting sensors send signals to the feeding motor (3-1) after acquiring the information of the tail end of the external thread cylinder, and the feeding motor (3-1) controls the external thread lifting cylinder to stop moving.

9. The automatic bone drilling device of claim 6, wherein: the tail end of the internal thread cylinder (3-13) is also sleeved with a limiting ring for limiting the movement of the external thread cylinder.

10. The automatic bone drilling device of claim 6, wherein: scales are arranged on the guide outer cylinders (3-16).

11. The automatic bone drilling device of claim 6, wherein: the motor shaft of the feeding motor (3-1) is fixedly connected with the transmission connecting piece (3-12), and the transmission connecting piece (3-12) is fixedly connected with the internal thread cylinder (3-13).

12. The automatic bone drilling device of claim 6, wherein: the feeding motor (3-1) is connected with the transmission connecting piece (3-12) through a synchronous belt wheel, and drives the transmission connecting piece (3-12) to rotate through the synchronous belt wheel; the transmission connecting piece (3-12) is arranged on the mounting seat (3-4) through a bearing, and a secondary synchronous belt wheel (3-8) is arranged on the mounting seat (3-4) and is fixedly connected with the transmission connecting piece (3-12); the feeding motor (3-1) is arranged on the mounting seat (3-4) and below the transmission connecting piece (3-12), a main synchronous pulley (3-6) connected with a motor shaft of the feeding motor (3-1) is arranged on the mounting seat (3-4) and on the same side of the auxiliary synchronous pulley (3-8), and the main synchronous pulley (3-6) is connected with the auxiliary synchronous pulley (3-8) through a synchronous belt.

13. The automatic bone drilling device of claim 6, wherein: the feeding motor (3-1) is connected with the transmission connecting piece (3-12) through a chain; the transmission connecting piece (3-12) is arranged on the mounting seat (3-4) through a bearing, and a driven wheel is arranged on the mounting seat (3-4) and is fixedly connected with the transmission connecting piece (3-12); the feeding motor (3-1) is arranged on the mounting seat (3-4) and below the transmission connecting piece (3-12), a driving wheel connected with a motor shaft of the feeding motor (3-1) is arranged on the same side of the mounting seat (3-4) and the driven wheel, and the driving wheel is connected with the driven wheel through a chain.

14. The automatic bone drilling device of claim 12 or 13, wherein: the mounting seat (3-4) is provided with a motor waist hole (3-4-2) and at least one pair of symmetrical bolt waist holes (3-4-1), one side of the mounting seat (3-4) is provided with an adjusting seat (3-5), and the feeding motor (3-1) penetrates through the motor waist hole (3-4-2) and penetrates through the bolt waist hole (3-4-1) through a bolt to be fixedly mounted with the adjusting seat (3-5); an adjusting threaded seat (3-2) and an adjusting fixed seat (3-3) are arranged on the other side of the mounting seat (3-4), and the adjusting threaded seat (3-2) is fixedly mounted with the adjusting seat (3-5) after penetrating through the bolt waist hole (3-4-1) by a bolt; the adjusting threaded seat (3-2) is connected with the adjusting fixed seat (3-3) through an adjusting bolt.

15. The automatic bone drilling device of claim 6, wherein: the feeding motor (3-1) is connected with the transmission connecting piece (3-12) through a gear; the transmission connecting piece (3-12) is installed on the installation seat (3-4) through a bearing, and a driven gear is arranged on the installation seat (3-4) and is fixedly connected with the transmission connecting piece (3-12); the feeding motor (3-1) is arranged on the mounting seat (3-4) and below the transmission connecting piece (3-12), a driving gear connected with a motor shaft of the feeding motor (3-1) is arranged on the mounting seat (3-4) and on the same side of the driven gear, and the driving gear is meshed with the driven gear.

16. The automatic bone drilling device of claim 1, wherein: the automatic bone drilling device also comprises an isolating membrane used for wrapping all mechanisms except the Kirschner wire and the rotating mechanism; the isolating membrane is fixed at the tail end of the feeding mechanism through a buckle.

17. The automatic bone drilling device of claim 16, wherein: the isolating membrane is made of plastic.

18. The automatic bone drilling device of claim 16, wherein: the shape of the buckle is the same as the section of the outer cylinder (3-15) of the feeding mechanism (3).

19. The automatic bone drilling device of claim 16, wherein: the buckle is in a circular ring shape or a rectangle shape with a hole in the middle or other shapes.

20. The automatic bone drilling device of claim 16, wherein: the edge of the buckle is provided with a boss extending towards the center direction, and the tail end of the feeding mechanism (3) is provided with a groove corresponding to the boss for clamping the isolating membrane on the feeding mechanism (3).

21. The automatic bone drilling device of claim 20, wherein: the boss is a continuous boss surface or a plurality of spaced lugs.

22. The automatic bone drilling device of claim 1, wherein: the feeding mechanism (3) is also of a hollow structure, and the Kirschner wire (1) penetrates through the feeding mechanism (3) and the rotating mechanism (2).