CN116211391A

CN116211391A - Orthopedic operation equipment and drilling device

Info

Publication number: CN116211391A
Application number: CN202310133552.9A
Authority: CN
Inventors: 熊次远; 杨桂林; 陈庆盈; 张驰; 安永峰
Original assignee: Ningbo Institute of Material Technology and Engineering of CAS
Current assignee: Ningbo Institute of Material Technology and Engineering of CAS
Priority date: 2023-02-07
Filing date: 2023-02-07
Publication date: 2023-06-06

Abstract

The application discloses orthopedic surgery equipment and drilling device. The drilling device comprises a drill bit, a rotary driving mechanism, a linear driving mechanism and a guide piece; the linear driving mechanism comprises a sliding block, the guide piece comprises a rigid part and a flexible part which only elastically deforms along the sliding direction of the sliding block, and the rigid part and the flexible part are respectively connected with the sliding block and the base; the drill bit is arranged at the rotary output end; a tension pressure sensor is arranged between the base and the sliding block, and a torque sensor is arranged between the drill bit and the rotary driving mechanism. The drilling device precisely controls the movement of the drill bit in the rotation direction and the linear feeding direction by utilizing the rotary driving mechanism, the linear driving mechanism, the torque sensor and the tension pressure sensor, and senses the depth of the drill bit entering the human body, the position of the drill bit and other information; the guide piece is used for preventing the drill bit from generating displacement in other directions except the drilling direction, so that the detection precision of the tension pressure sensor is ensured, the shake of the drill bit is reduced, and the drilling characteristic is improved.

Description

Orthopedic operation equipment and drilling device

Technical Field

The application relates to the technical field of medical instruments, in particular to a drilling device. Also relates to an orthopedic operation device comprising the drilling device.

Background

Bone drilling is one of the most important surgical procedures in orthopedic surgery.

The bone drilling operation is generally finished by holding a bone drill by a doctor, and has the problems of poor accuracy, low safety, low efficiency and high labor intensity, especially the bone tissue breaking moment is difficult to control, so that peripheral blood vessels, nerves and the like of the bone tissue are easily damaged; and the selection of technological parameters such as feeding speed, feeding force, drilling speed and the like depends on the experience of doctors, so that mechanical and thermal damage to bone tissues is easily caused. For this reason, orthopedic surgical robots for bone drilling work have been developed.

Most bone drills used in the prior bone surgery only have a rotating speed control function in a rotating direction, do not have a sensing and controlling function of position and force in a feeding direction, and often do not have a moment sensing function in the rotating direction. Although a few bone drills are provided with a pressure sensor between the propelling mechanism and the rotary motor for sensing and controlling the position and force of the feeding direction, the pressure sensor bears lateral force besides pressure because the drill bit and the bone surface are difficult to ensure absolute perpendicularity in the bone drilling process, and moreover, a slender drill bit rotating at a high speed is easy to generate centrifugal force, so that the end of the drill bit can shake when the support rigidity of a joint is insufficient. It can be seen that the reliability of the pressure sensor of the bone drill is low and the cutting characteristics of the drill bit are poor.

In summary, how to realize the sensing function and intelligent control of the bone drill in different directions becomes a problem to be solved by those skilled in the art.

Disclosure of Invention

The object of the present application is to provide a drilling device which allows to detect and precisely control the movement of the drill bit in the direction of rotation and in the direction of feed. It is another object of the present application to provide an orthopedic surgical device that includes a drilling apparatus.

In order to achieve the above object, the present application provides a drilling device including a drill, a rotary driving mechanism, a linear driving mechanism, and a guide; the linear driving mechanism comprises a sliding block, the guide piece comprises a rigid part and a flexible part which only elastically deforms along the sliding direction of the sliding block, and the rigid part and the flexible part are respectively connected with the sliding block and the base; the drill bit is arranged at the rotary output end; a tension pressure sensor is arranged between the base and the sliding block, and a torque sensor is arranged between the drill bit and the rotary driving mechanism.

In some embodiments, the rigid portion includes a guide block fixedly connected to the slider; the flexible part comprises a thin plate member fixedly connected with the stand; the plate thickness direction of the thin plate member is parallel to the sliding direction.

In some embodiments, the sheet member includes first sheets arranged in pairs and parallel to each other and a moving block provided between the pair of first sheets; the moving block is positioned in the middle of the plate surface of any one of the first thin plates and is separated from the guide block; the machine base is fixed on the moving block.

In some embodiments, the sheet member further comprises a plurality of second sheets; any first thin plate is adjacent to and parallel to at least one second thin plate, and any first thin plate is connected with the edges of the second thin plates adjacent to the first thin plate; all the second thin plates are fixedly connected to the guide blocks, and all the first thin plates are separated from the guide blocks.

In some embodiments, two first sheet edges connected to the same moving block meet.

In some embodiments, a groove is provided in the guide block; the thin plate member is disposed in the recess.

In some embodiments, the housing is connected to more than two sheet members.

In some embodiments, the rotary drive mechanism further comprises a rotary motor; the torque sensor is arranged between the rotating motor and the rotating output end.

In some embodiments, a drill bit protective sleeve is arranged in front of the drill bit; the through hole in the drill bit protective sleeve is collinear with the drill bit; the drill bit protective sleeve is relatively fixed with the guide rail of the linear driving mechanism.

The application also provides orthopedic surgery equipment, including arm and above-mentioned drilling device, linear drive mechanism's guide rail is fixed in the arm.

In contrast to the background art described above, the drilling apparatus provided by the present application includes a drill, a rotary drive mechanism, a linear drive mechanism, and a guide; in the drilling device, the rotary driving mechanism comprises a machine base and a rotary output end, the linear driving mechanism comprises a sliding block, the guide piece comprises a rigid part and a flexible part which only elastically deforms along the sliding direction of the sliding block, and the rigid part and the flexible part are respectively connected with the sliding block and the machine base; the drill bit is arranged at the rotary output end, a tension pressure sensor is arranged between the base and the sliding block, and a torque sensor is arranged between the drill bit and the rotary driving mechanism.

In the drilling device, the rotary driving mechanism drives the drill bit to rotate, meanwhile, the torque sensor detects the torque received by the drill bit during drilling, the linear driving mechanism drives the drill bit to do linear reciprocating motion, and meanwhile, the pull pressure sensor detects the pressure received by the drill bit during drilling. Therefore, the drilling device precisely controls the movement of the drill bit in the rotation direction and the linear feeding direction by utilizing the rotary driving mechanism, the linear driving mechanism, the torque sensor and the tension pressure sensor, senses the depth of the drill bit entering the human body, the position and other information of the drill bit, so that an operator gives out the most suitable technological parameters according to different characteristics of different positions of bone tissues, the accuracy, the efficiency and the safety of bone drilling operation can be improved, the labor intensity of doctors can be reduced, and the mechanical and thermal damage of the bone tissues can be reduced.

In the drilling device, a guide piece is arranged between a machine base and a sliding block; when the drill bit is subjected to the force in the drilling direction, the guide piece arranged between the base and the sliding block can generate a small displacement, and when the drill bit is subjected to the force in other directions except the drilling direction, the guide piece can prevent the drill bit from generating displacement in the directions, so that the guide piece can ensure that the tension pressure sensor is only used for detecting the tension pressure applied when the drill bit drills, the shaking of the end part of the drill bit can be reduced, and the drilling characteristics of the drill bit are improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural view of a drilling device in a first direction according to an embodiment of the present disclosure;

FIG. 2 is a cross-sectional view of a drilling apparatus according to an embodiment of the present application;

fig. 3 is a schematic structural view of a drilling device in a second direction according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of a guide member according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a guide member according to an embodiment of the present disclosure when deformed;

fig. 6 is a schematic structural view of an orthopedic operation device according to an embodiment of the present application.

The device comprises a 1-drill, a 2-rotation driving mechanism, a 21-base, a 22-rotation output end, a 23-rotation motor, a 3-linear driving mechanism, a 31-sliding block, a 32-guide rail, a 4-guide piece, a 41-guide block, a 42-sheet member, a 421-first sheet, a 422-moving block, a 423-second sheet, a 43-groove, a 5-tension pressure sensor, a 6-torque sensor, a 7-drill protecting sleeve and an 8-mechanical arm.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In order to better understand the aspects of the present application, a further detailed description of the present application will be provided below with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of a drilling device in a first direction according to an embodiment of the present disclosure; FIG. 2 is a cross-sectional view of a drilling apparatus according to an embodiment of the present application; fig. 3 is a schematic structural view of a drilling device in a second direction according to an embodiment of the present disclosure; FIG. 4 is a schematic structural view of a guide member according to an embodiment of the present disclosure; FIG. 5 is a schematic view of a guide member according to an embodiment of the present disclosure when deformed; fig. 6 is a schematic structural view of an orthopedic operation device according to an embodiment of the present application.

Referring to fig. 1 to 3, the present application provides a drilling apparatus, which includes a drill bit 1, a rotary driving mechanism 2 for driving the drill bit 1 to rotate, and a linear driving mechanism 3 for driving the drill bit 1 to linearly reciprocate; the linear driving mechanism 3 includes a slider 31, the rotary driving mechanism 2 includes a base 21 and a rotary output end 22, the drill bit 1 is disposed at the rotary output end 22 of the rotary driving mechanism 2, and the base 21 of the rotary driving mechanism 2 is disposed at the slider 31 of the linear driving mechanism 3, so that the linear driving mechanism 3 drives the rotary driving mechanism 2 and the drill bit 1 to reciprocate linearly by using the slider 31, and on the basis, the rotary driving mechanism 2 drives the drill bit 1 to rotate by using the rotary output end 22, thereby realizing drilling.

In this embodiment, the guide 4 is provided between the rotary driving mechanism 2 and the linear driving mechanism 3, the guide 4 includes a rigid portion and a flexible portion, the flexible portion is elastically deformable only in the sliding direction of the slider 31, one of the rigid portion and the flexible portion is connected to the slider 31 of the linear driving mechanism 3, and the other of the rigid portion and the flexible portion is connected to the housing 21 of the rotary driving mechanism 2. Wherein the sliding direction of the slide 31 corresponds to the drilling direction of the drill bit 1.

Further, in this embodiment, a pull pressure sensor 5 is provided between the housing 21 and the slider 31, and a torque sensor 6 is provided between the drill bit 1 and the rotary drive mechanism 2, and it is apparent that the pull pressure sensor 5 is used to detect the pressure applied to the drill bit 1 when drilling, and the torque sensor 6 is used to detect the torque applied to the drill bit 1 when drilling.

The drilling device provided by the application uses the rotary driving mechanism 2 to drive the drill bit 1 to rotate, uses the torque sensor 6 to detect the torque applied to the drill bit 1 during drilling, uses the linear driving mechanism 3 to drive the drill bit 1 to do linear reciprocating motion, and uses the pull pressure sensor 5 to detect the pressure applied to the drill bit 1 during drilling; the guide 4 provided between the housing 21 and the slide 31 allows the stress and movement characteristics of the various components of the drilling device to be adjusted. When the drill bit 1 is subjected to forces in the drilling direction, the guide 4 arranged between the base 21 and the slide block 31 generates a small displacement, and when the drill bit 1 is subjected to forces in directions other than the drilling direction, the guide 4 can prevent the drill bit 1 from generating displacement in the directions, so that the guide 4 can ensure that the tension pressure sensor 5 is only used for detecting the tension pressure applied when the drill bit 1 drills, and can reduce the shaking of the end part of the drill bit 1 and improve the drilling characteristics of the drill bit 1.

The drilling device provided by the application is further described below with reference to the accompanying drawings and embodiments.

Referring to fig. 4 and 5, in some embodiments, the rigid portion of the guide 4 includes a guide block 41, the flexible portion of the guide 4 includes a thin plate member 42, the thin plate member 42 is disposed inside the guide block 41, and the plate thickness direction of the thin plate member 42 is parallel to the sliding direction of the slider 31, that is, parallel to the drilling direction of the drill bit 1. The guide block 41 may be fixedly connected to the slider 31 of the linear driving mechanism 3, and the thin plate member 42 may be fixedly connected to the housing 21 of the rotary driving mechanism 2. The thin plate member 42 has thin plate characteristics, for example, a small dimension in the plate thickness direction and a large dimension in the plate surface direction, and is therefore easily deformed in the plate thickness direction and is difficult to deform in other directions than the plate thickness direction.

The thin plate member 42 may include a pair of first thin plates 421 and a moving block 422 disposed between the pair of first thin plates 421; the housing 21 of the rotary drive mechanism 2 is fixed to the moving block 422 of the thin plate member 42. In this embodiment, the first thin plates 421 distributed in pairs are parallel to each other, and the plate thickness direction of the thin plate member 42, that is, the plate thickness direction of any one of the first thin plates 421; the moving block 422 is provided between the pair of first thin plates 421 and is separated from the guide block 41, and when the pair of first thin plates 421 are deformed in the plate thickness direction, the moving block 422 can move with the deformation of the pair of first thin plates 421. The deformation amount of the middle of the plate surface of the first thin plate 421 is greater than the deformation amount of the plate surface edge of the first thin plate 421, and thus both ends of the moving block 422 may be connected to the middle of the plate surfaces of the pair of first thin plates 421, respectively.

The sheet member 42 may further include a plurality of second sheets 423. Any one of the first thin plates 421 is adjacent to and parallel to at least one of the second thin plates 423, and at the same time, any one of the first thin plates 421 is connected to the adjacent second thin plates 423, for example, one of the first thin plates 421 and one of the second thin plates 423 are adjacent to and parallel to each other, and the edges of the first thin plates 421 and the edges of the second thin plates 423 are aligned with each other and connected together, so that they are spliced to form a box-like structure.

In the above embodiment, the second thin plate 423 may be fixedly coupled with the guide block 41, and the first thin plate 421 may be separated from the guide block 41. The fixed connection of the second thin plate 423 and the guide block 41 may mean that at least one side edge of the second thin plate 423 is fixed to the guide block 41, for example, the second thin plate 423 is a rectangular plate, the rectangular plate stands on its side, and the bottom edge of the rectangular plate is attached to and fixed to the guide block 41.

Based on the above connection relationship between the first thin plate 421, the second thin plate 423, and the moving block 422, the moving block 422 can be firmly and stably connected to the housing 21 of the rotary driving mechanism 2, the mounting strength of the rotary driving mechanism 2 and the guide 4 is ensured, the first thin plate 421 and the moving block 422 can be elastically deformed in the plate thickness direction and only in the plate thickness direction, so as to prevent the drill bit 1 from being displaced in other directions than the drilling direction, the second thin plate 423 is connected to the first thin plate 421, and the structural strength of the first thin plate 421 can be improved while maintaining the deformation characteristics of the first thin plate 421.

In addition to the shape configuration shown in fig. 4 and 5, the sheet member 42 may have other shape configurations, for example, any one of the first sheets 421 and the second sheet 423 adjacent thereto are abutted, and at the same time, the two first sheets 421 connected to the same moving block 422 are abutted, and as is apparent from the above, the moving block 422 is disposed between the pair of first sheets 421, and thus, the pair of first sheets 421 and the plurality of second sheets 423 adjacent to the pair of first sheets 421 are abutted in parallel with each other and abutted.

In the guide 4 provided with the sheet member 42 and the guide block 41, the guide block 41 is often provided with a groove 43, the sheet member 42 is provided in the groove 43, for example, the top surface of the guide block 41 is provided with a groove 43 recessed downward, the sheet member 42 is provided in the groove 43, and the top end of the sheet member 42 may be slightly higher than the top surface of the guide block 41 or may be not higher than the top surface of the guide block 41. The guide block 41 may be integrally formed by wire cutting.

In the above embodiment, the first sheet 421 and the second sheet 423 of the sheet member 42 may be regarded as leaf springs, and thus, for the guide 4 shown in fig. 5, two first sheets 421 and two second sheets 423 provided on both sides of the moving block 422 may be regarded as first leaf springs, second leaf springs, third leaf springs, and fourth leaf springs in this order from left to right; the first leaf spring and the second leaf spring are connected in parallel to form a parallelogram mechanism, the third leaf spring and the fourth leaf spring are connected in parallel to form a parallelogram mechanism, and the moving block 422 is positioned between the two parallelogram mechanisms; the middle portions of both the first and fourth leaf springs are connected to the guide block 41, and the middle portions of both the second and third leaf springs are connected to the moving block 422. When the drill bit 1 is forced during drilling, the distance between the two leaf springs of one of the parallelogram mechanisms becomes large (small), while at the same time the distance between the two leaf springs of the other parallelogram mechanism becomes correspondingly small (large), and at this time, the displacement generated by the moving part is the sum of the displacements of the leaf springs located inside the two parallelogram mechanisms. The leaf springs only undergo a slight deformation in the direction of the borehole, so that the rotary drive 2 and the linear drive 3 undergo a slight relative movement in the direction of the borehole. The structural design of the double parallelogram mechanism composed of the plurality of leaf springs can effectively increase the sensitivity of the thin plate member 42, so that the double parallelogram mechanism has the characteristics of small rigidity in the pulling and pressing direction and large rigidity in the other directions.

Typically, the housing 21 of the rotary drive mechanism 2 is connected to two or more thin plate members 42, in other words, a plurality of thin plate members 42 collectively support the housing 21 of the rotary drive mechanism 2.

In the drilling device provided in the present application, the rotary driving mechanism 2 includes a rotary motor 23 in addition to the housing 21 and the rotary output 22; the torque sensor 6 of the drilling device is arranged between the rotary motor 23 and the rotary output 22. Referring to fig. 2, the rotary electric machine 23, the torque sensor 6, and the rotary output 22 are coaxially distributed and connected in sequence.

Of course, the rotary drive mechanism 2 includes other parts such as a first encoder, a planetary reducer, a main shaft, an elastic collet, a case, an upper cover plate, and the like, in addition to the housing 21, the rotary output 22, and the rotary motor 23. In the rotary driving mechanism 2, a first encoder is positioned at the rear end of the rotary motor 23, a planetary reducer is positioned at the front end of the rotary motor 23, and the first encoder, the rotary motor 23 and the planetary reducer are integrally designed; the main shaft is coaxially arranged with the rotating motor 23 through a rolling bearing and is separated by a distance; the elastic collet chuck is positioned at the front part of the main shaft and is used for clamping the drill bit 1; the torque sensor 6 is positioned between the rotating motor 23 and the main shaft, and two ends of the torque sensor 6 are respectively connected with the rotating driving motor and the main shaft through a coupler, so that the drill bit 1 is driven to rotate and the torque of the drill bit 1 in the rotating direction is sensed in real time; the box body and the upper cover plate are used for sealing a plurality of parts such as the encoder, the planetary reducer, the main shaft, the elastic collet chuck and the like.

As for the linear driving mechanism 3 of the drilling device, it may include a linear driving motor, a second encoder, a transmission mechanism, a ball screw, etc., in addition to the slider 31; the second encoder is positioned at the rear end of the linear driving motor; the linear driving motor drives the ball screw to rotate through the transmission mechanism, so that the sliding block 31 arranged on the ball screw is driven to do linear motion; the slide block 31 may be regarded as a screw nut or as a loading platform fixedly connected to the screw nut.

In addition, the drilling device provided by the application further comprises a drill bit protecting sleeve 7 arranged in front of the drill bit 1; the through hole collinear with the drill bit 1 is formed in the drill bit protective sleeve 7, and the drill bit protective sleeve 7 is relatively fixed with the guide rail 32 of the linear driving mechanism 3, so that when the linear driving mechanism 3 drives the rotary driving mechanism 2 and the drill bit 1 to do linear motion, the drill bit 1 shuttles in the through hole, and therefore the drill bit protective sleeve 7 can not only guide the drill bit 1, but also protect human tissues from being stranded by the drill bit 1 rotating at a high speed.

Referring to fig. 1 and 2, the bit protective sheath 7 may comprise a sleeve that mates with the bit 1; the device also comprises a mounting bracket, a tension sleeve support, a tension sleeve and a Z-shaped bracket; the sleeve is coaxial with the drill bit 1, and the diameter of an inner hole of the sleeve is slightly larger than the outer diameter of the drill bit 1 and is used for guiding the drill bit 1 to feed linearly; the outer wall of the sleeve is used for protecting human tissues from being injured by the drill bit 1 rotating at high speed, and a user can replace the sleeves with different diameters and lengths according to actual needs; the sleeve is connected in the tension sleeve support through the tension sleeve and is further connected at the front end of the guide rail 32 of the linear driving mechanism 3 through the mounting bracket and the Z-shaped bracket.

Referring to fig. 1, 2 and 6, the present application further provides an orthopedic operation device on the basis of the drilling device provided in the above embodiments; in the orthopedic operation device, the drilling device is arranged on the mechanical arm 8, for example, the guide rail 32 of the linear driving mechanism 3 is fixed on the mechanical arm 8, and the mechanical arm 8 moves the drilling device to a designated position under the control of the related automatic control system, and then the drilling device realizes drilling and cutting.

In sum, the orthopedic operation equipment and the drilling device thereof provided by the application can accurately control the rotating speed and the displacement in the rotating direction and the linear feeding direction, sense the depth of the drill bit 1 entering the human body, the position and other information, so that the most suitable technological parameters are given according to different characteristics of different positions of bone tissues, the accuracy, the high efficiency and the safety of bone drilling operation are improved, the labor intensity of doctors is reduced, and the mechanical and thermal damage of the bone tissues is reduced. The guide piece 4 of the drilling device can enable the tension pressure sensor 5 to bear tension pressure at any time, and simultaneously improve the supporting rigidity of the connecting part and reduce the shake of the drill bit 1, thereby improving the reliability of the tension pressure sensor 5 and further improving the reliability of the whole machine; the guide piece 4 adopts a leaf spring structure, has the characteristics of no friction and no clearance, and can improve the force control precision and sensitivity of the bone drill.

The orthopedic surgery equipment and the drilling device provided by the application are described in detail above. Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.

Claims

1. A drilling device is characterized by comprising a drill bit (1), a rotary driving mechanism (2), a linear driving mechanism (3) and a guide piece (4); the rotary driving mechanism (2) comprises a base (21) and a rotary output end (22), the linear driving mechanism (3) comprises a sliding block (31), the guide piece (4) comprises a rigid part and a flexible part which is only elastically deformed along the sliding direction of the sliding block (31), and the rigid part and the flexible part are respectively connected with the sliding block (31) and the base (21); the drill bit (1) is arranged at the rotary output end (22); a tension pressure sensor (5) is arranged between the base (21) and the sliding block (31), and a torque sensor (6) is arranged between the drill bit (1) and the rotary driving mechanism (2).

2. Drilling device according to claim 1, characterized in that the rigid part comprises a guide block (41) fixedly connected with the slide (31); the flexible portion comprises the sheet member (42) fixedly connected to the housing (21); the plate thickness direction of the thin plate member (42) is parallel to the sliding direction.

3. The drilling device according to claim 2, characterized in that the sheet member (42) comprises a pair of first sheets (421) distributed parallel to each other and a moving block (422) arranged between a pair of the first sheets (421); the moving block (422) is positioned in the middle of the plate surface of any one of the first thin plates (421), and the moving block (422) is separated from the guide block (41); the stand (21) is fixed to the moving block (422).

4. A drilling device according to claim 3, characterized in that the sheet member (42) further comprises a plurality of second sheets (423); -either said first sheet (421) is immediately adjacent and parallel to at least one said second sheet (423), either said first sheet (421) being bordered by the edges of said second sheet (423) immediately adjacent thereto; all the second thin plates (423) are fixedly connected to the guide blocks (41), and all the first thin plates (421) are separated from the guide blocks (41).

5. Drilling device according to claim 4, characterized in that the edges of two first thin plates (421) connected to the same moving block (422) meet.

6. Drilling device according to claim 4, characterized in that the guide block (41) is provided with a recess (43) therein; the sheet member (42) is disposed within the recess (43).

7. Drilling device according to claim 6, wherein the foundation (21) is connected to more than two of the sheet members (42).

8. Drilling device according to any one of claims 1 to 7, characterized in that the rotary drive mechanism (2) further comprises a rotary motor (23); the torque sensor (6) is provided between the rotary electric machine (23) and the rotary output end (22).

9. Drilling device according to any one of claims 1 to 7, characterized in that a drill protective sleeve (7) is provided in front of the drill (1); the through hole in the drill bit protective sleeve (7) is collinear with the drill bit (1); the drill bit protective sleeve (7) is fixed relative to the guide rail (32) of the linear driving mechanism (3).

10. An orthopaedic surgical device, characterized by comprising a robotic arm (8) and a drilling apparatus as claimed in any one of claims 1 to 9, the guide rail (32) of the linear drive mechanism (3) being fixed to the robotic arm (8).