CN215739247U

CN215739247U - Swing saw mechanism and osteotomy robot

Info

Publication number: CN215739247U
Application number: CN202122339797.6U
Authority: CN
Inventors: 黄志俊; 刘金勇; 钱坤; 安永; 柏健
Original assignee: Lancet Robotics Co Ltd
Current assignee: Lancet Robotics Co Ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2022-02-08
Anticipated expiration: 2031-09-24

Abstract

The application discloses pendulum saw mechanism and osteotomy operation robot relates to medical instrument technical field. The saw swinging mechanism comprises a driving piece, a saw blade, a guide assembly, a positioning assembly and a locking piece; the saw blade is connected to an output shaft of the driving piece, and the driving piece is used for driving the saw blade to vibrate on an osteotomy plane; one end of the guide assembly is mounted on the driving piece, the other end of the guide assembly is rotatably connected with the positioning assembly, the guide assembly is used for providing a guiding effect for the feeding action of the saw blade, and the positioning assembly is used for positioning the swing saw mechanism and the bone to be cut; the locking member is used for locking the positioning component and the guiding component. The application provides a pendulum saw mechanism can make things convenient for the locating component to be connected with the location of bone, convenient operation.

Description

Swing saw mechanism and osteotomy robot

Technical Field

The application relates to the technical field of medical equipment, in particular to a saw swinging mechanism and an osteotomy robot.

Background

The pendulum saw structure in the present knee joint robot, when carrying out the location operation of pendulum saw structure and bone, because the angle of pilot pin on cutting the bone plane can't be fixed completely, easily make knocking the in-process, the problem that the pilot pin takes place the skew appears to increased the degree of difficulty of location operation, be unfavorable for medical staff to operate.

SUMMERY OF THE UTILITY MODEL

The application provides a swing saw mechanism and an osteotomy robot, which are convenient for the swing saw mechanism to be connected with the bone in a positioning way.

The present application provides:

a swing saw mechanism comprises a driving piece, a saw blade, a guide assembly, a positioning assembly and a locking piece;

the saw blade is connected to an output shaft of the driving piece, and the driving piece is used for driving the saw blade to vibrate in an osteotomy plane;

one end of the guide assembly is mounted on the driving piece, the other end of the guide assembly is rotatably connected with the positioning assembly, the guide assembly is used for providing a guiding effect for the feeding action of the saw blade, and the positioning assembly is used for positioning the swing saw mechanism and the bone to be cut;

the locking member is used for locking the positioning component and the guiding component.

In some possible embodiments, the locking element includes an insertion portion for inserting and connecting the positioning component and the guiding component, and a flexible ring is sleeved on the insertion portion;

when the locking piece is connected with the positioning assembly and the guiding assembly, the flexible ring is extruded between the inserting part and the positioning assembly or between the inserting part and the guiding assembly.

In some possible embodiments, the locking member further comprises a handle portion, and the handle portion is connected to one end of the insertion portion;

when the locking piece is connected with the positioning component and the guiding component, the handheld part is convexly arranged on one side of the guiding component far away from the positioning component.

In some possible embodiments, the positioning assembly includes a fixing frame and a positioning pin, and the fixing frame is rotatably connected with the guide assembly;

the positioning pin is arranged on one side of the fixing frame far away from the guide assembly in a protruding mode.

In some possible embodiments, the saw blade includes a connecting end and a cutting end, the connecting end is connected to the output shaft of the driving member, the cutting end is slidably disposed through the fixing frame, and a sliding direction of the cutting end relative to the fixing frame is parallel to a guiding direction of the guiding assembly.

In some possible embodiments, the fixing frame is provided with a first guide slot for the saw blade to pass through.

In some possible embodiments, a rotating shaft is convexly arranged on one side of the fixed frame close to the guide assembly, and the guide assembly is rotatably sleeved on the rotating shaft;

one end of the rotating shaft, which is far away from the fixed frame, is limited on one side of the guide assembly, which is far away from the fixed frame, through a nut;

the rotating shaft is further sleeved with an elastic piece, one end of the elastic piece abuts against one side, close to the guide assembly, of the nut, and the other end of the elastic piece abuts against one side, close to the nut, of the guide assembly through a cushion block.

In some possible embodiments, the guide assembly comprises a guide rod and a guide block, and the guide block is fixedly installed at one end of the driving piece far away from the positioning assembly;

one end of the guide rod is rotatably connected with the positioning assembly, and the other end of the guide rod is slidably arranged on the guide block.

In some possible embodiments, the guide block is provided with a second guide groove for the guide rod to pass through, and a circumferential side wall of the guide rod is attached to an inner wall of the second guide groove.

In addition, the application also provides an osteotomy robot, which comprises the oscillating saw mechanism provided by the application.

The beneficial effect of this application is: the application provides a pendulum saw mechanism and cut bone surgery robot, cuts bone surgery robot including pendulum saw mechanism. The oscillating saw mechanism comprises a driving piece, a saw blade, a guide assembly, a positioning assembly and a locking piece. The saw blade is connected to the driving part, and the driving part drives the saw blade to vibrate on the osteotomy plane so as to realize the osteotomy action. One end of the guide assembly is connected to the driving piece, the other end of the guide assembly is connected with the positioning assembly in a rotating mode, the locking piece is used for locking the guide assembly and the positioning assembly, and the angle between the positioning assembly and the guide assembly can be kept relatively fixed through the locking piece. Therefore, when the positioning assembly is fixed on the bone, the angle of the positioning assembly relative to structural members such as the guide assembly and the driving piece can be kept relatively fixed, and when the structural members such as the guide assembly and the driving piece are fixed on the osteotomy plane, the angle of the positioning assembly on the osteotomy plane can be relatively fixed, so that the positioning assembly is prevented from offsetting, and the positioning assembly can be conveniently fixed at the set position of the bone.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 illustrates a structural schematic of a state of the oscillating saw mechanism in some embodiments;

FIG. 2 illustrates another structural view of the oscillating saw mechanism in some embodiments;

FIG. 3 illustrates a schematic structural view of a driving member in some embodiments;

FIG. 4 illustrates an exploded view of the driver and guide block in some embodiments;

FIG. 5 shows a schematic view of the guide block in some embodiments;

FIG. 6 illustrates a schematic structural view of a positioning assembly in some embodiments;

FIG. 7 illustrates a partial schematic view of an oscillating saw mechanism in some embodiments;

FIG. 8 illustrates a cross-sectional view of the holder and blade in some embodiments;

fig. 9 shows a schematic view of the structure of the locking element in some embodiments.

Description of the main element symbols:

10-a drive member; 11-the driver body; 12-a handle; 13-an output shaft; 131-connecting card slot; 14-locking knob; 15-a switch; 20-a saw blade; 21-cutting the end; 22-a connection end; 30-a positioning assembly; 31-a fixing frame; 311-a positioning section; 3111-a first guide groove; 312-a pivot joint; 3121-first connection aperture; 32-positioning pins; 33-a rotating shaft; 34-a nut; 35-an elastic member; 36-a cushion block; 40-a guide assembly; 41-a guide rod; 411-second connection hole; 42-a guide block; 421-second guide groove; 50-a locking element; 51-a hand-held portion; 52-an insertion portion; 53-a flexible ring; 60-a connecting flange; 70-mounting seat.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, 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," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

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 application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in FIG. 1, a Cartesian coordinate system is established, and the length direction of the oscillating saw mechanism is defined to be parallel to the direction shown by an x axis, the width direction of the oscillating saw mechanism is defined to be parallel to the direction shown by a y axis, and the height direction of the oscillating saw mechanism is defined to be parallel to the direction shown by a z axis. It is to be understood that the above definitions are merely for ease of understanding the relative positional relationship of the various parts of the oscillating saw mechanism and should not be construed as limiting the present application.

Embodiments provide an oscillating saw mechanism that can be used in osteotomy procedures, and, by way of example, knee joint procedures.

As shown in fig. 1 and 2, the oscillating saw mechanism may include a drive 10, a saw blade 20, a positioning assembly 30, and a guide assembly 40.

Wherein the saw blade 20 is connectable to the output shaft 13 of the drive 10.

The drive member 10 may be used to drive the saw blade 20 in high frequency vibrations at the plane of a osteotomy for performing the osteotomy. It will be understood that an osteotomy plane may refer to a plane in which a superior fracture of a bone occurs when the bone is sectioned. In an embodiment, the saw blade 20 may be parallel to the osteotomy plane.

In an embodiment, one end of the guide assembly 40 can be mounted on the driving member 10, and the other end of the guide assembly 40 is rotatably connected to the positioning assembly 30, and the positioning assembly 30 can be used for positioning the pendulum saw mechanism with respect to the bone, so as to ensure that the saw blade 20 cuts the bone at the set osteotomy plane.

In use, the positioning assembly 30 can be fixed at the position of the bone to be cut, so that the positioning of the saw oscillating mechanism and the bone is realized. Subsequently, the saw blade 20 may be driven by the drive 10 to vibrate to cut bone.

In some embodiments, the oscillating saw mechanism further includes a locking member 50 for locking the positioning assembly 30 and the guide assembly 40, i.e., the locking member 50 can be used to prevent the positioning assembly 30 from freely rotating relative to the guide assembly 40.

In use, when the positioning assembly 30 is fixed to the bone, the positioning assembly 30 can be locked to the guide assembly 40 by the locking member 50, so that the angle between the positioning assembly 30 and the driving member 10 is also fixed relatively. Therefore, when the positioning component 30 is fixed on the bone, the driving component 10 can be directly held, the driving component 10 is limited to rotate freely on the osteotomy plane, correspondingly, the positioning component 30 can also be limited, the positioning component 30 is prevented from rotating freely on the osteotomy plane, the positioning component 30 is conveniently fixed on the bone, and the positioning accuracy is ensured.

As shown in fig. 1-3, in some embodiments, the driving member 10 may be an oscillating saw that vibrates the saw blade 20 in the plane of the osteotomy to effect the cutting action. Accordingly, the driver 10 may include a driver body 11 and a handle 12, wherein the driver body 11 may be fixedly attached to the handle 12 and the handle 12 is substantially perpendicular to the driver body 11. The output shaft 13 is connected to the driving member body 11 in a transmission manner, a connecting slot 131 for inserting the saw blade 20 is disposed at one end of the output shaft 13 far away from the handle 12, and the connecting slot 131 is located at one side of the output shaft 13 far away from the driving member body 11. The saw blade 20 can be fixedly inserted into the connecting slot 131 and can be locked and fixed by the locking knob 14.

As shown in fig. 4, the saw blade 20 may have an elongated sheet-like structure, and the length of the saw blade 20 may be arranged along the length of the saw mechanism, i.e., the length of the saw blade 20 is parallel to the direction of the x-axis. The blade 20 may include a cutting end 21 and a connecting end 22 disposed at both ends of the length of the blade 20.

The end face of the cutting end 21 remote from the connecting end 22 may be provided with a saw tooth structure to provide a cutting function. Wherein the saw tooth structure may extend along the width direction of the saw blade 20. The connecting end 22 can be fixedly connected to the output shaft 13 of the driving member 10, and the saw blade 20 can extend from the connecting slot 131 to a direction away from the driving member body 11.

In operation, the cutting end 21 of the blade 20 may be positioned adjacent to bone, and in particular, the serrated structure of the cutting end 21 may be brought into contact with bone. And the saw blade 20 is driven by the drive member 10 to oscillate in the osteotomy plane such that the saw tooth structure can oscillate generally in its own direction of extension to effect the osteotomy action.

In an embodiment, the guide assembly 40 may be used to guide the feeding motion of the saw blade 20. Specifically, during the osteotomy, the blade 20 may be urged to move closer to the bone for a feeding action. During this process, the guide assembly 40 may guide the movement of the saw blade 20.

As shown in fig. 1, 4 and 5, in some embodiments, the guide assembly 40 may include a guide rod 41 and a guide block 42. The guide block 42 can be fixedly mounted on the side of the driving member body 11 away from the handle 12.

Specifically, a mounting seat 70 is fixedly connected to one side of the guide block 42 close to the driving member body 11, and for example, the guide block 42 and the mounting seat 70 may be fixedly connected by means of bolting, welding, clamping, bonding, or the like. The mounting seat 70 is fixedly connected to a side of the driving member body 11 away from the handle 12, on a side away from the guide block 42. Illustratively, the mounting seat 70 and the driving member body 11 may be fixedly connected by welding, bolting, clamping, bonding, or the like.

As shown in fig. 1 and 5, a second guide groove 421 may be formed on the guide block 42, and one end of the guide rod 41 may be slidably inserted into the second guide groove 421. The extending direction of the second guiding groove 421 can be parallel to the length direction of the saw oscillating mechanism. Accordingly, the sliding direction of the guide rod 41 relative to the guide block 42 is parallel to the length direction of the pendulum saw mechanism.

In an embodiment, the circumferential side wall of the guide rod 41 may be engaged with the inner wall of the second guide groove 421, so that the guide rod 41 is prevented from being randomly shaken relative to the guide block 42, and the guide rod 41 provides a guiding function for the movement of the guide block 42. In some embodiments, the guide bar 41 may be located on a side of the saw blade 20 away from the handle 12 in the height direction of the pendulum saw mechanism.

In one embodiment, an end of the guide rod 41 remote from the guide block 42 is rotatably connected to the positioning assembly 30.

During the feeding process, the driving member 10 can move synchronously with the saw blade 20, and the guide block 42 can be moved synchronously by the driving member 10. Since the positioning assembly 30 is fixed to the bone, the guide rod 41 is also fixed relative to the bone in the feeding direction of the saw blade 20. Thereby, the guide block 42 can be moved along the guide bar 41 to guide the feeding operation of the saw blade 20.

As shown in fig. 1, 6, and 7, in some embodiments, positioning assembly 30 may include a fixture 31 and a positioning pin 32. The fixing frame 31 may include a positioning portion 311 and a pivoting portion 312 connected to each other, and the positioning portion 311 and the pivoting portion 312 may be disposed perpendicular to each other. In some embodiments, the positioning portion 311 and the pivoting portion 312 may be integrally formed.

In other embodiments, the positioning portion 311 and the pivoting portion 312 can be fixedly connected by a screw connection, a welding, a clamping connection, or the like.

One end of the pivoting portion 312 away from the positioning portion 311 is rotatably connected to one end of the guide rod 41 away from the guide block 42. Specifically, the pivot portion 312 is rotatably connected to the guide rod 41 via the rotating shaft 33. One end of the shaft 33 is fixedly connected to the pivot portion 312. In some embodiments, the shaft 33 may be fixedly disposed on the pivoting portion 312 by an integral molding manner, and the shaft 33 is located on a side of the pivoting portion 312 away from the positioning portion 311.

In other embodiments, the shaft 33 can be fixed to the pivot portion 312 by welding, screwing, clipping, etc. Of course, in other embodiments, the shaft 33 can be rotatably mounted with respect to the pivot portion 312.

In an embodiment, an end of the guide rod 41 away from the guide block 42 is rotatably sleeved on the rotating shaft 33, i.e. the guide rod 41 can rotate smoothly relative to the rotating shaft 33. The side of the guiding rod 41 away from the pivoting portion 312 can be limited by the nut 34, and accordingly, the nut 34 can be screwed on the end of the rotating shaft 33 away from the pivoting portion 312.

In some embodiments, an elastic member 35 is further disposed between the nut 34 and the guide rod 41, one end of the elastic member 35 abuts against a side of the nut 34 close to the guide rod 41, and the other end of the elastic member 35 may abut against a side of the guide rod 41 close to the nut 34 through a pad 36, in which the elastic member 35 is in a compressed state. Therefore, when the fixing frame 31 rotates relative to the guide rod 41, the nut 34 and the rotating shaft 33 are prevented from loosening, and the connection stability of the fixing frame 31 and the guide rod 41 is ensured.

In some embodiments, the elastic member 35 can be a spring, and is sleeved on the rotating shaft 33, and the pad 36 can also be sleeved on the rotating shaft 33.

In other embodiments, the elastic member 35 may be a spring, a flexible block, or the like.

In some embodiments, the pivot 312 may be parallel to the blade 20, and the pivot 312 may be engaged with a side of the guide bar 41 near the blade 20. The positioning portion 311 may extend from the pivot portion 312 toward the blade 20.

As shown in fig. 1, 7 and 8, the cutting end 21 of the saw blade 20 can be slidably inserted through an end of the positioning portion 311 away from the pivoting portion 312, so that the cutting end 21 can contact with the bone, and the positioning portion 311 is prevented from interfering with the feeding action of the saw blade 20. In the embodiment, the positioning portion 311 is provided with a first guide groove 3111 for the saw blade 20 to pass through. The extending direction of the first guide groove 3111 may be parallel to the length direction of the saw oscillating mechanism. The sliding direction of the saw blade 20 relative to the positioning portion 311 may be parallel to the length direction of the pendulum saw mechanism.

As shown in fig. 8, in some embodiments, both side surfaces of the saw blade 20 may be engaged with the inner walls of the corresponding sides of the first guide groove 3111 in the height direction of the saw oscillating mechanism. Therefore, the positioning part 311 can limit the position of the saw blade 20 in the height direction of the oscillating saw mechanism, and the saw blade 20 is prevented from shaking relative to the positioning part 311 in the direction under the driving action of the driving part 10. Correspondingly, the saw blade 20 can be ensured to be always positioned on the osteotomy plane in the working process, and the deviation is avoided, so that the osteotomy precision is ensured, and unnecessary pain of a patient is avoided.

As shown in fig. 8, the width of the first guide groove 3111 may be greater than the width of the saw blade 20 in the width direction of the oscillating saw mechanism. During operation, the saw blade 20 can be ensured to move smoothly on the osteotomy plane, i.e. the saw blade 20 can rotate around the bone within a certain range in the osteotomy plane, so as to avoid the positioning portion 311 interfering with the movement of the saw blade 20 on the osteotomy plane.

As shown in fig. 6 and 7, the positioning pin 32 may be fixed to a side of the positioning portion 311 away from the pivoting portion 312 in the longitudinal direction of the oscillating saw mechanism. In the height direction of the oscillating saw mechanism, the positioning pin 32 may be located at an end of the positioning portion 311 away from the pivoting portion 312, and specifically, the positioning pin 32 may be located at a side of the first guide groove 3111 away from the pivoting portion 312.

In other embodiments, the positioning pin 32 may also be located on a side of the positioning portion 311 close to the pivoting portion 312, and specifically, the positioning pin 32 may be located on a side of the first guiding groove 3111 close to the pivoting portion 312.

It will be appreciated that, in use, the locating pin 32 may be insertedly secured in the bone. Positioning pin 32 may be protruded from a side of positioning portion 311 away from driving member 10, and an end of positioning pin 32 away from positioning portion 311 may have a tip end to facilitate insertion of positioning pin 32 into a bone.

As shown in fig. 1 and 2, the locking member 50 can be used to connect the pivoting portion 312 and the guiding rod 41, thereby locking the positioning member 30 and the guiding member 40 to prevent the positioning member 30 and the guiding member 40 from rotating freely.

As shown in fig. 2 and 6, correspondingly, one end of the pivoting portion 312 away from the positioning portion 311 is opened with a first connection hole 3121 for connecting the locking member 50. One end of the guide rod 41 near the pivot portion 312 is provided with a second connection hole 411. When it is required to lock the fixed frame 31 and the guide bar 41, the second connection hole 411 may be coaxial with the first connection hole 3121 so that the locking member 50 is sequentially inserted into the first connection hole 3121 and the second connection hole 411.

As further shown in conjunction with fig. 9, the locking member 50 may include a hand-held portion 51 and an insertion portion 52. The handheld portion 51 and the insertion portion 52 may be cylindrical, and an outer diameter of the handheld portion 51 may be larger than an outer diameter of the insertion portion 52. When the locking member 50 locks the guide rod 41 and the fixing frame 31, the insertion portion 52 may be used to insert and connect the first connection hole 3121 and the second connection hole 411, the handle portion 51 may protrude from a side of the guide rod 41 away from the pivoting portion 312, and an outer diameter of the handle portion 51 may be greater than an inner diameter of the second connection hole 411.

In some embodiments, a flexible ring 53 is also secured to the socket 52. When the flexible ring 53 is not subjected to an external force, the outer diameter of the flexible ring 53 may be greater than the outer diameter of the insertion portion 52, and the outer diameter of the flexible ring 53 is greater than the inner diameter of the second coupling hole 411. When the insertion portion 52 is inserted into the first connection hole 3121 and the second connection hole 411, the flexible ring 53 may be pressed between the insertion portion 52 and the inner wall of the second connection hole 411, and the flexible ring 53 is in a compressed state. Accordingly, the inserting portion 52 can be stably connected to the first connection hole 3121 and the second connection hole 411, and the inserting portion 52 is prevented from being freely separated from the first connection hole 3121 and the second connection hole 411. In some embodiments, the flexible ring 53 may be a rubber ring, a silicone ring, or the like.

In other embodiments, the flexible ring 53 can also be sleeved on the insertion portion 52 corresponding to the first connection hole 3121. When the insertion portion 52 is inserted into the first connection hole 3121 and the second connection hole 411, the flexible ring 53 may be pressed between the insertion portion 52 and the inner wall of the first connection hole 3121.

As shown in fig. 1, the oscillating saw mechanism further includes a connecting flange 60 for connecting a manipulator, wherein the manipulator may be a manipulator in an osteotomy robot. Therefore, the manipulator can drive the swing saw mechanism to move to the osteotomy plane, wherein the manipulator can move according to the instruction of the control system in the osteotomy operation robot, and the moving precision of the swing saw mechanism can also be ensured.

In some embodiments, the attachment flange 60 may be attached to one side of the guide block 42 in the width direction. Illustratively, the connecting flange 60 and the guide block 42 may be fixedly connected by bolts, clamping, welding, or the like.

In use, the attachment flange 60 may be attached to a manipulator of an osteotomy robot. The fixing frame 31 and the guide rod 41 are locked and fixed by the locking piece 50, so that the fixing frame 31 is prevented from freely rotating relative to the guide rod 41. The osteotomy robot drives the saw mechanism to move to a set osteotomy plane, and then medical staff can push the positioning assembly 30 to move, and can fix the positioning pin 32 in the bone by means of auxiliary tools such as a knocking hammer and the like, so as to realize the positioning of the saw mechanism and the bone. Subsequently, the locking member 50 between the fixing frame 31 and the guide rod 41 can be removed, so that the fixing frame 31 and the guide rod 41 can rotate relatively, i.e. the saw blade 20 and the positioning assembly 30 can rotate relatively, and the flexibility of the saw blade 20 during operation is ensured. The practitioner can perform the osteotomy by depressing switch 15 on drive member 10 to activate drive member 10, which in turn causes drive member 10 to vibrate saw blade 20 at the osteotomy plane. During an osteotomy, the saw blade 20 can be rotated relative to the positioning assembly 30 to adjust the position of the saw blade 20 in the osteotomy plane. At the same time, the saw blade 20 can be pushed to move relative to the positioning assembly 30, i.e., the saw blade 20 is slid relative to the first guide groove 3111 to realize the feeding, during which the movement of the saw blade 20 can be guided by the guide assembly 40.

The embodiment also provides an osteotomy robot which comprises a manipulator and the oscillating saw mechanism provided in the embodiment. The connecting flange 60 of the saw oscillating mechanism can be fixedly connected to a manipulator, and the manipulator can be used for driving the saw oscillating mechanism to move so as to enable the saw blade 20 to move to the set osteotomy plane.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A swing saw mechanism is characterized by comprising a driving piece, a saw blade, a guide assembly, a positioning assembly and a locking piece;

2. The pendulum saw mechanism of claim 1, wherein the locking member comprises an engaging portion for engaging and connecting the positioning member and the guide member, and a flexible ring disposed circumferentially around the engaging portion;

3. The pendulum saw mechanism of claim 2, wherein the locking member further comprises a handle portion, the handle portion being coupled to one end of the insertion portion;

4. The oscillating saw mechanism of claim 1, wherein the positioning assembly includes a mount and a positioning pin, the mount being rotationally coupled to the guide assembly;

5. The oscillating saw mechanism of claim 4, wherein the saw blade includes a connecting end and a cutting end, the connecting end is connected to the output shaft of the driving member, the cutting end is slidably disposed through the fixed frame, and a sliding direction of the cutting end relative to the fixed frame is parallel to a guiding direction of the guiding assembly.

6. The oscillating saw mechanism of claim 5 wherein the holder defines a first guide slot for the saw blade to pass through.

7. The oscillating saw mechanism of claim 4, wherein a rotating shaft is convexly disposed on one side of the fixed frame close to the guide assembly, and the guide assembly is rotatably sleeved on the rotating shaft;

8. The pendulum saw mechanism of claim 1, wherein the guide assembly comprises a guide rod and a guide block, the guide block being fixedly mounted to an end of the drive member remote from the positioning assembly;

9. The oscillating saw mechanism of claim 8, wherein the guide block defines a second guide slot for the guide rod to pass through, and a circumferential side wall of the guide rod is in contact with an inner wall of the second guide slot.

10. An osteotomy robot comprising the oscillating saw mechanism of any one of claims 1 to 9.