CN113081615A - Intelligent robot for maxillofacial plastic surgery - Google Patents

Abstract

The invention provides an intelligent maxillofacial plastic surgery robot, belonging to the technical field of beauty treatment. The support assembly includes a base frame, a saddle, a bed frame, and a head frame. The patient lies down on the back of the body and crouches in the annular groove on slip table surface, patient's head carries out spacing fixing up through the annular groove on slip table surface up, carry out quick location to patient truck and head before the art, the doctor is with the patient anesthesia back, send into the operation region through the slide bed pneumatic cylinder with patient's head, it is spacing to carry out the circular arc to patient's head lower extreme through the annular groove on slip table surface among the plastic process, it shakes the skew to reduce the cutting of patient jaw face plastic in-process operation and cause, adopt the spacing design of radian, put the patient truck head upright fast, it is spacing to carry out the separation to patient's head through the circular arc lateral wall, reduce the head atress skew that the cutting caused in the art, improve jaw face.

Description

Intelligent robot for maxillofacial plastic surgery

Technical Field

The invention relates to the technical field of beauty treatment, in particular to an intelligent maxillofacial plastic surgery robot.

Background

Maxillofacial cosmetic surgery mainly refers to various operations for changing facial shapes: such as high cheekbone reduction operation, mandibular angle hypertrophy operation (changing the face of melon seeds into the face), chin horizontal osteotomy advancement operation (correcting the small chin), etc. These procedures are delicate and require surgical instruments to be fine. As surgical instruments are improved more and more delicately and the operating requirements of doctors are higher and higher, doctors must have artistic aesthetics like sculptors and superior surgical skills at the same time.

However, the above scheme still has certain defects, and the inventor finds that different maxillofacial patients lie differently, a doctor needs to reposition the trunk and the head of the patient before an operation, and the positioning error exists, and the cutting amount of the scalpel needs to be controlled during the operation, so that the situation that the head of the patient shakes and deviates due to excessive cutting, and the plastic surgery precision is insufficient is avoided.

Disclosure of Invention

In order to make up for the defects, the invention provides an intelligent maxillofacial plastic surgery robot, aiming at solving the problem of insufficient precision of the maxillofacial plastic surgery.

The invention is realized by the following steps:

the invention provides an intelligent maxillofacial plastic surgery robot which comprises a supporting assembly and a sliding bed assembly.

The supporting component comprises an underframe, a saddle, a bedstead and a headstock, the saddle is uniformly arranged on the underframe, the bedstead is lapped on the saddle, one end of the headstock is arranged at one end of the bedstead, the sliding bed component comprises a supporting roller shaft, a sliding bed guide rail, a sliding table and a sliding bed hydraulic cylinder, the supporting roller shaft is respectively and uniformly rotated and arranged on the bedstead and on the headstock, the sliding bed guide rail is symmetrically arranged on the bedstead, the sliding table is respectively and slidably arranged on the surface of the supporting roller shaft and the surface of the sliding bed guide rail, the cylinder body of the sliding bed hydraulic cylinder is symmetrically arranged adjacent to the sliding bed guide rail at one side of the bedstead, one end of the piston rod of the sliding bed hydraulic cylinder is fixed at one side of.

In one embodiment of the invention, suspension brackets are symmetrically arranged on two sides of the head frame adjacent to the bed frame, one end of each suspension bracket is fixed on one side of the bed frame, a suspension seat is arranged on one side of the head frame far away from the bed frame, and the suspension seats are fixed on the bottom frame, so that the head of a patient is supported and simultaneously the head of the patient is prevented from interfering with a movement mechanism through a suspension design.

In one embodiment of the invention, the supporting upright posts are uniformly arranged between the bed frame and the underframe, so that the supporting stress points of the body of the patient are increased, and the supporting strength of the device is increased.

In one embodiment of the invention, the lower end of the underframe is uniformly provided with screws, the lower ends of the screws are fixed with balance blocks, and the screws are used for adjusting the levelness of the surgical robot and calibrating the precision of the reference shaft of the surgical robot.

In an embodiment of the present invention, the bedstead surface and the headstock surface are uniformly provided with roller seats, the supporting roller shafts rotate in the roller seats, and through the plurality of roller seats and the plurality of supporting roller shafts, a supporting surface for a patient is increased, supporting stability is improved, and the patient can be conveniently transported to an operation area.

In one embodiment of the invention, the upper end of the saddle is provided with a support ring, and the support ring is attached to the surface of the bed frame, so that the stress surface of the bed frame is increased, and the support stability of the bed frame is improved.

In an embodiment of the invention, a support slider is slidably arranged on the surface of the slide bed guide rail, the support slider is fixed on one side of the slide table, and the slide table is guided and limited while being supported and slid by the support slider and the slide bed guide rail.

In an embodiment of the invention, a fixing groove is formed in the surface of the sliding table above the supporting roller shaft, and the fixing groove is an arc-shaped groove, so that the body and the head of a patient can be conveniently limited and fixed.

In one embodiment of the invention, a guide ring plate is arranged on one side of the sliding table far away from the head frame, so that the patient can conveniently get on and off the sliding table to lie down.

In one embodiment of the invention, a connecting seat is arranged on one side of the cylinder body of the sliding bed hydraulic cylinder, the connecting seat is fixed on one side of the bed frame, a connecting block is fixed at one end of a piston rod of the sliding bed hydraulic cylinder, the connecting block is fixed on one side of the sliding table, the sliding bed hydraulic cylinder and the bed frame are fixed through the connecting seat, the sliding bed hydraulic cylinder and the sliding table are connected through the connecting block, and the relative motion of the bed frame and the sliding table is realized.

The invention provides an intelligent maxillofacial plastic surgery robot, which further comprises a scanning component and a surgery component.

The scanning assembly comprises linear guide rails, a transmission screw rod, hollow seats, a first motor, arc guide rails, a ring and a second motor, the linear guide rails are symmetrically arranged on a chassis, the transmission screw rod rotates on one side of the chassis between the adjacent linear guide rails, the hollow seats slide on the surface of the linear guide rails, the hollow seats are connected to the surface of the transmission screw rod in a transmission manner, a first motor body is arranged on one side of the chassis, the output end of the first motor is transmitted to one end of the transmission screw rod, the arc guide rails are symmetrically arranged on two sides of the hollow seats, the lower end of the ring slides between the upper ends of the arc guide rails, a second motor body is horizontally arranged on one side above the hollow seats, the output end of the second motor is transmitted to one side of the surface of the ring, and the operation assembly comprises an operation hydraulic cylinder, a cutter, the operation pneumatic cylinder body evenly set up in between the circular arc guide rail ring surface one side, the cutter set up in operation pneumatic cylinder piston rod one end, photography module evenly set up in ring surface one side, sensor module evenly set up in ring internal surface opposite side, the cutter photography module with sensor module all moves towards the slip table.

In an embodiment of the present invention, a first belt pulley is fixed at one end of the driving screw adjacent to the first motor, a second belt pulley is fixed at an output end of the first motor, the second belt pulley is driven by the first belt pulley, and the driving screw is driven by the first motor through a belt.

In an embodiment of the invention, a mounting seat is arranged on one side of the second motor body, and the mounting seat is fixed on the hollow seat, so that the second motor and the hollow seat can be conveniently supported and fixed.

In one embodiment of the invention, a transmission gear is fixed at the output end of the second motor, an indexing gear ring is fixedly sleeved on the surface of the ring, the indexing gear ring is meshed with the transmission gear, and the rotation angle of the ring is precisely controlled by meshing gears, so that the transmission precision of the surgical robot is improved.

In one embodiment of the invention, a fixed block is arranged at the top of the arc guide rail, sliding rods symmetrically penetrate through the fixed block, an electric brush is fixed at one end of each sliding rod, the electric brush faces the ring, a spring is sleeved on the surface of each sliding rod between the fixed block and the electric brush, and circuit connection in the rotating process of the ring is realized through the structure.

In one embodiment of the invention, the indexing seats are arranged on one side of the cylinder body of the hydraulic cylinder for operation, one side of each indexing seat is uniformly arranged on the surface of the ring, the indexing seats are spaced at specific angles, and each indexing seat is numbered through the identification, so that the subsequent continuous control of a plurality of groups of scalpels is facilitated.

In an embodiment of the invention, indexing grooves are uniformly formed in the inner surface of the ring, and one side of the photographing module and one side of the sensor module are inserted into the indexing grooves, so that the photographing module and the sensor module can be conveniently and quickly positioned and installed.

The invention has the beneficial effects that: when the intelligent maxillofacial plastic surgery robot is used, a patient lies in the annular groove in the surface of the sliding table with the back facing downwards, the head of the patient faces upwards and is limited and fixed through the annular groove in the surface of the sliding table, the trunk and the head of the patient are quickly positioned before the surgery, after the patient is anesthetized by a doctor, the head of the patient is sent into a surgery area through the sliding bed hydraulic cylinder, the lower end of the head of the patient is limited in an arc manner through the annular groove in the surface of the sliding table during the surgery, the shaking deviation caused by surgical cutting during the maxillofacial plastic surgery of the patient is reduced, the trunk of the patient is quickly straightened by adopting the radian limiting design, the head of the patient is limited in a blocking manner through the arc side wall, the head stress deviation caused by cutting during the surgery is reduced, the precision of the maxillofacial.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic perspective view of an intelligent maxillofacial orthopaedic surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a support assembly according to an embodiment of the present invention;

FIG. 3 is a perspective view of a slider bed assembly according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a first perspective view of a scanning assembly according to an embodiment of the present invention;

FIG. 5 is a perspective view of a second view of a scanning assembly according to an embodiment of the present invention;

FIG. 6 is a partially enlarged perspective view of a scanning assembly according to an embodiment of the present invention;

fig. 7 is a perspective view of a surgical assembly according to an embodiment of the present invention.

In the figure: 100-a support assembly; 110-a chassis; 111-screw; 112-a counterweight; 120-saddle seat; 121-a support ring; 130-bed frame; 131-a support column; 132-roller seat; 140-a head frame; 141-a suspended support; 142-a suspension mount; 300-a slider bed assembly; 310-supporting roll shafts; 320-sliding bed guide rails; 321-supporting the slider; 330-a sliding table; 331-fixed slots; 332-a guide ring plate; 340-sliding bed hydraulic cylinder; 341-a connecting seat; 342-a connecting block; 500-a scanning assembly; 510-a linear guide rail; 520-a drive screw; 521-a first pulley; 530-hollow seat; 540-a first motor; 541-a second pulley; 550-arc guide rail; 551-fixing block; 552-a slide bar; 553-a brush; 554-a spring; 560-Loop; 561-indexing the ring gear; 562-an indexing groove; 570-a second electric machine; 571-an installation seat; 572-drive gear; 700-a surgical assembly; 710-surgical hydraulic cylinder; 711-indexing seat; 720-a cutter; 730-a photography module; 740-sensor module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

Referring to fig. 1, the present invention provides a technical solution: intelligence jaw face plastic surgery operation robot includes supporting component 100, sliding bed subassembly 300, scanning subassembly 500 and operation subassembly 700, sliding bed subassembly 300 slidable mounting is at supporting component 100 top, scanning subassembly 500 is installed in supporting component 100 one side, operation subassembly 700 is evenly installed on scanning subassembly 500, supporting component 100 makes things convenient for patient's support, sliding bed subassembly 300 makes things convenient for the fixed of patient body and head, the corner cut of scanning subassembly 500 control operation feed, the plastic surgery of patient jaw face overall profile, operation subassembly 700 accurate control feed stroke, the multiunit replacement scalpel makes things convenient for the continuous use of plastic surgery, compare patient jaw face through image sensing, carry out the operation correction in real time.

Referring to fig. 1 and 2, the supporting assembly 100 includes an underframe 110, saddles 120, bedframes 130 and headrests 140, the saddles 120 are uniformly arranged on the underframe 110, the saddles 120 are bolted to the underframe 110, the bedframes 130 are lapped on the saddles 120, the bedframes 130 support the trunk of a patient, the saddles 120 are provided with supporting rings 121 at the upper ends thereof, the saddles 120 are bolted to the supporting rings 121, the supporting rings 121 are attached to the surfaces of the bedframes 130 to support the bedframes 130, one end of the headrests 140 is arranged at one end of the bedframes 130, the headrests 140 support the head of the patient, suspension brackets 141 are symmetrically arranged at two sides of the headrests 140 of adjacent bedframes 130, one ends of the suspension brackets 141 are fixed at one sides of the bedframes 130, the suspension brackets 141 are respectively welded to the headrests 140 and the bedframes 130, one side of the headrests 140 far away from, the suspension seat 142 is fixed on the bottom frame 110, and the bottom frame 110 is connected with the suspension seat 142 through bolts.

Wherein, evenly be provided with support column 131 between bedstead 130 and chassis 110, support column 131 increases bedstead 130's strong point with bedstead 130 and chassis 110 bolted connection respectively, and chassis 110 lower extreme evenly is provided with screw rod 111, and screw rod 111 and chassis 110 threaded connection, and the screw rod 111 lower extreme is fixed with balancing piece 112, adjusts surgical robot's horizontal precision through this kind of structure, calibrates surgical robot's processing reference axis, improves surgical robot's the precision of advancing a knife.

Referring to fig. 1 and 3, the sliding bed assembly 300 includes a supporting roller 310, a sliding bed guide rail 320, a sliding table 330 and a sliding bed hydraulic cylinder 340, the supporting roller 310 is respectively and uniformly rotatably disposed on the bed frame 130 and the head frame 140, the supporting roller 310 supports a patient at multiple points, the surface of the bed frame 130 and the surface of the head frame 140 are respectively and uniformly provided with roller holders 132, the roller holders 132 are respectively and bolt-connected with the bed frame 130 and the head frame 140, the supporting roller 310 rotates in the roller holders 132, the roller holders 132 are provided with bearings, two ends of the supporting roller 310 rotate between the bearings, the sliding bed guide rails 320 are symmetrically disposed on the bed frame 130, the sliding bed guide rail 320 is bolt-connected with the bed frame 130, the sliding table 330 respectively slides on the surface of the supporting roller 310 and the surface of the sliding bed guide rail 320, the multiple points support the patient stably, the surface of the sliding bed guide rail 320 is, the supporting sliding block 321 is connected with the sliding table 330 through bolts, and the guiding precision of the sliding table 330 is improved through the guiding structure, so that a patient can be conveniently sent into an operation area.

Wherein, the cylinder body of the sliding bed hydraulic cylinder 340 is symmetrically arranged on one side of the bed frame 130 of the adjacent sliding bed guide rail 320, the sliding bed hydraulic cylinder 340 controls the horizontal movement of the sliding table 330, one side of the cylinder body of the sliding bed hydraulic cylinder 340 is provided with a connecting seat 341, the connecting seat 341 is fixed on one side of the bed frame 130, the connecting seat 341 is respectively connected with the sliding bed hydraulic cylinder 340 and the bed frame 130 by bolts, one end of the piston rod of the sliding bed hydraulic cylinder 340 is fixed on one side of the sliding table 330, one end of the piston rod of the sliding bed hydraulic cylinder 340 is fixed with a connecting block 342, the connecting block 342 is fixed on one side of the sliding table 330, the connecting block 342 is respectively connected with the sliding bed hydraulic cylinder 340 and the sliding table 330 by bolts, the surface of the sliding table 330 above the supporting roller shaft 310 is provided with a fixing groove 331, the concrete fixing, the guide ring plate 332 is welded with the sliding table 330, so that the patient can conveniently enter the sliding table 330.

Referring to fig. 1, 4, 5 and 6, the scanning assembly 500 includes a linear guide 510 and a drive screw 520, the hollow seat 530, the first motor 540, the arc guide 550, the ring 560 and the second motor 570, the linear guide 510 is symmetrically arranged on the bottom frame 110, the linear guide 510 is connected with the bottom frame 110 through bolts, the transmission screw 520 rotates on one side of the bottom frame 110 between the adjacent linear guides 510, a bearing seat is arranged on one side of the specific bottom frame 110, two ends of the transmission screw 520 rotate between the bearing seats, the hollow seat 530 slides on the surface of the linear guide 510 through a guide rail slider, the hollow seat 530 is connected to the surface of the transmission screw 520 in a transmission manner, the specific hollow seat 530 is connected to the surface of the transmission screw 520 through a screw nut, the body of the first motor 540 is arranged on one side of the bottom frame 110, the first motor 540 is connected with the bottom frame 110 through bolts.

Wherein, the output end of the first motor 540 is transmitted to one end of the transmission screw 520, one end of the transmission screw 520 adjacent to the first motor 540 is fixed with a first belt wheel 521, the first belt wheel 521 is connected with the key of the transmission screw 520, the output end of the first motor 540 is fixed with a second belt wheel 541, the second belt wheel 541 is connected with the first motor 540 in a key way, the second belt wheel 541 is transmitted to the first belt wheel 521, the circular arc guide rails 550 are symmetrically arranged at two sides of the hollow base 530, the circular arc guide rails 550 are connected with the hollow base 530 through bolts, the lower end of the ring 560 slides between the upper ends of the circular arc guide rails 550, the rotation of the ring 560 is limited through the circular arc guide rails 550, the body of the second motor 570 is horizontally arranged at one side above the hollow base 530, one side of the body of the second motor 570 is provided with a mounting base 571, the mounting base 571 is fixed on the hollow base 530, the ring of, the second motor 570 drives the ring 560 to rotate at a precise angle, a transmission gear 572 is fixed at the output end of the second motor 570, and the transmission gear 572 is in key connection with the second motor 570.

The surface of the ring 560 is fixedly sleeved with a graduated ring 561, the graduated ring 561 is sleeved with the ring 560 and then fixed through screws, the graduated ring 561 is meshed with the transmission gear 572, the top of the arc guide rail 550 is provided with a fixed block 551, the fixed block 551 is connected with the arc guide rail 550 in a key mode, sliding rods 552 are symmetrically arranged in the fixed block 551 in a sliding and penetrating mode, a boss is arranged at one end of each sliding rod 552 in a penetrating mode and used for limiting the stroke of each sliding rod 552, one end of each sliding rod 552 is fixedly provided with a brush 553, each brush 553 is in threaded connection with the corresponding sliding rod 552, each brush 553 faces the ring 560, a spring 554 is sleeved on the surface of each sliding rod 552.

Referring to fig. 1 and 7, the surgical assembly 700 includes a surgical hydraulic cylinder 710, a cutter 720, a photographing module 730 and a sensor module 740, wherein a cylinder body of the surgical hydraulic cylinder 710 is uniformly disposed at one side of a surface of a ring 560 between arc guide rails 550, one side of the cylinder body of the surgical hydraulic cylinder 710 is provided with an index seat 711, one side of the index seat 711 is uniformly disposed at the surface of the ring 560, the index seat 711 is respectively bolted with the ring 560 and the surgical hydraulic cylinder 710, the cutter 720 is disposed at one end of a piston rod of the surgical hydraulic cylinder 710, the cutter 720 is in threaded connection with the surgical hydraulic cylinder 710, in this embodiment, the surgical hydraulic cylinder 710 precisely controls the feeding of the cutter 720, the cutting angle of the cutter 720 is always perpendicular to the jaw of the patient through the rotation angle of the ring 560, the over-cutting and the under-cutting of the cutter 720 are reduced, in addition, the reciprocating overall contour shaping operation is, the cutting amount of the cutter 720 is accurately controlled, the jaw face of a patient is reduced to shake and shift, the plastic surgery precision is improved, and the annular cutter holders are replaced by a plurality of groups of cutters 720, so that the cutter setting error caused by cutter 720 replacement is reduced, and the cutting accuracy of the surgical cutter 720 is improved.

Wherein, photography module 730 evenly sets up in ring 560 surface one side, sensor module 740 evenly sets up in ring 560 internal surface opposite side, specific photography module 730 and sensor module 740 carry out three-dimensional image sensing monitoring to patient's jaw face, make things convenient for the comparison of plastic digifax, also make things convenient for in-time correction to the operation in-process error, improve plastic operation precision, cutter 720, photography module 730 and sensor module 740 all face slip table 330, graduated slot 562 has evenly been seted up to ring 560 internal surface, improve photography module 730 and sensor module 740 installation accuracy, further improve three-dimensional image sensing monitoring precision, photography module 730 one side and sensor module 740 one side all peg graft in graduated slot 562.

Specifically, this intelligence jaw face plastic surgery operation robot's theory of operation: when the device is used, a patient lies down on the back in the annular groove on the surface of the sliding table 330, the head of the patient is upwards limited and fixed through the annular groove on the surface of the sliding table 330, the sliding table hydraulic cylinder 340 is opened to send the head of the patient into an operation area, the first motor 540 controls the horizontal movement of the ring 560, the photographing module 730 and the sensor module 740 are used for carrying out three-dimensional image sensing monitoring on the jaw face of the patient and transmitting data to a remote data terminal, a doctor adjusts the shaping face shape through the data and gives instructions through the terminal to accurately compare the jaw face of the patient, the shaping operation precision is improved, the second motor 570 is used for controlling the accurate rotation angle of the ring 560, the required shaping cutter 720 is adjusted to the sector area above the jaw face of the patient, the cutter 720 is accurately controlled to feed through the operation hydraulic cylinder 710, the vertical feed operation is carried out on the jaw face area of the patient, the cutter, the ring 560 swings to and fro accurately, the reshaping cutter 720 is replaced by swinging to carry out continuous feed operation, the tool setting error caused by repeatedly replacing the cutter 720 is reduced, the reshaping operation precision is improved, the reciprocating overall contour reshaping operation is carried out on the jaw face of a patient by matching with linear movement, the cutter is fed layer by layer, the cutter feeding precision is improved, the patient jaw face shaking caused by cutter feeding resistance is reduced, the vertical cutting angle feeding is adopted to reduce the over-cutting and under-cutting of the jaw face of the patient, the cutting precision of the jaw face of the patient is improved, a plurality of groups of cutters 720 feed in the annular direction, can keep continuous feed, improve the efficiency and the precision of tool changing, reasonably control the cutting amount of each feed through scanning type profile layer-by-layer feed, reduce the shaking and the transfer of the jaw face of a patient, improve the cutting precision, realize image sensing three-dimensional comparison, carry out error correction before and after the plastic surgery, improve jaw face plastic surgery's precision, degree of automation is high, and jaw face plastic precision effect is better.

It should be noted that the specific model specifications of the sliding bed hydraulic cylinder 340, the first motor 540, the second motor 570, the surgical hydraulic cylinder 710, the photographing module 730, and the sensor module 740 need to be determined by type selection according to the actual specification of the device, and the specific type selection calculation method adopts the prior art in the field, and therefore details are not described again.

The power supply and the principle of the sliding bed hydraulic cylinder 340, the first motor 540, the second motor 570, the surgical hydraulic cylinder 710, the photographing module 730, and the sensor module 740 are apparent to those skilled in the art and will not be described in detail herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An intelligent robot for maxillofacial plastic surgery, comprising

The supporting assembly (100) comprises an underframe (110), saddles (120), a bed frame (130) and a head frame (140), wherein the saddles (120) are uniformly arranged on the underframe (110), the bed frame (130) is lapped on the saddles (120), and one end of the head frame (140) is arranged at one end of the bed frame (130);

sliding bed subassembly (300), sliding bed subassembly (300) is including supporting roller axle (310), sliding bed guide rail (320), slip table (330) and sliding bed pneumatic cylinder (340), support roller axle (310) respectively even rotate set up in on bedstead (130) with on headstock (140), sliding bed guide rail (320) symmetry set up in on bedstead (130), slip table (330) slide respectively in support roller axle (310) surface with sliding bed guide rail (320) surface, sliding bed pneumatic cylinder (340) shaft symmetry set up in adjacent sliding bed guide rail (320) bedstead (130) one side, sliding bed pneumatic cylinder (340) piston rod one end is fixed in slip table (330) one side.

2. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein suspension brackets (141) are symmetrically disposed at both sides of the head frame (140) adjacent to the bed frame (130), one end of each suspension bracket (141) is fixed to one side of the bed frame (130), and a suspension seat (142) is disposed at a side of the head frame (140) away from the bed frame (130), and the suspension seat (142) is fixed to the base frame (110).

3. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein support posts (131) are uniformly arranged between said bed frame (130) and said base frame (110).

4. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein a screw (111) is uniformly arranged at the lower end of the base frame (110), and a balance block (112) is fixed at the lower end of the screw (111).

5. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein said bed frame (130) surface and said head frame (140) surface are uniformly provided with roller seats (132), said supporting rollers (310) being rotated in said roller seats (132).

6. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein said saddle (120) is provided at an upper end thereof with a support ring (121), said support ring (121) being attached to the surface of said bed frame (130).

7. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein a support slider (321) is slidably disposed on the surface of the sliding bed guide rail (320), and the support slider (321) is fixed on one side of the sliding table (330).

8. The intelligent maxillofacial orthopaedic surgical robot according to claim 1, wherein a fixing groove (331) is formed on the surface of the sliding table (330) above the supporting roller shaft (310).

9. The intelligent maxillofacial orthopaedic surgical robot of claim 1, wherein a guide ring plate (332) is provided on a side of the slide table (330) remote from the headstock (140).

10. The intelligent maxillofacial plastic surgery robot of claim 1, wherein a connecting seat (341) is arranged on one side of the cylinder body of the sliding bed hydraulic cylinder (340), the connecting seat (341) is fixed on one side of the bed frame (130), a connecting block (342) is fixed at one end of the piston rod of the sliding bed hydraulic cylinder (340), and the connecting block (342) is fixed on one side of the sliding table (330).

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