CN112773456A

Movatterモバイル変換

Info

Publication number: CN112773456A
Application number: CN202110027908.1A
Authority: CN
Inventors: 袁素
Original assignee: Chongqing Yixi Brand Planning Co Ltd
Current assignee: Chongqing Yixi Brand Planning Co Ltd
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2021-05-11

Abstract

The invention discloses a flexible shaft module and a saw blade type craniotomy device thereof, wherein the saw blade type craniotomy device can directly incise a skull through a saw blade and comprises a connecting frame, a connecting cover is arranged on the connecting frame, a connecting frame bottom plate is arranged at the bottom of the connecting cover, a feed push rod motor is arranged on the connecting frame bottom plate, a feed telescopic shaft is arranged on the feed push rod motor, one end of the feed telescopic shaft penetrates through the connecting frame bottom plate and then is assembled with a first saw blade frame shell of a saw blade frame, the first saw blade frame shell is also assembled with one end of a feed guide shaft, and the other end of the feed guide shaft penetrates through the connecting frame bottom plate and can be axially assembled with the connecting frame bottom plate in a sliding manner; a rotating frame is arranged in the first saw blade frame shell, the rotating frame and a rotating main shaft can be assembled in a circumferential rotating mode, and the rotating main shaft penetrates through the first saw blade frame shell and then is assembled with the second saw blade frame shell; a side moving frame is arranged on the second saw blade frame shell; the lateral moving frame is provided with a saw blade seat, the saw blade seat is provided with a saw blade module, and the saw blade module is provided with a saw blade which is used for cutting.

Description

Flexible shaft module and saw blade type craniotomy device thereof

Technical Field

The invention relates to a craniotomy device, in particular to a saw blade type craniotomy device.

Background

Craniotomy is a procedure in which the skull is cut open to treat the brain, and the procedure generally comprises: 1. cutting the scalp; 2. cutting open the skull; 3. cutting open the dura mater; 4, performing an operation; 5. the dura mater, the skull and the scalp are sutured one by one.

Craniotomy is one of the brain surgeries used commonly at present, and the time is generally more than 2-8 hours, wherein a large amount of time is wasted on craniotomy. The skull is typically cut by making three holes at the cut site and then cutting the three holes together so that the complete skull can be removed. The existing cutting connection is mainly formed by slotting by a milling cutter or directly cutting by a saw blade, the slotting by the milling cutter is very convenient and quick to use, and the defect is that the incision is large, so that the influence on the later-stage skull repair is caused; although the cutting opening of the saw blade is small, the saw blade is easy to clamp, and the local temperature rise of the saw blade is also a problem to be solved, the cutting efficiency of the saw blade is high, and the later period skull repair is very quick. Thus, in practice, blade cutting is more advantageous for later repair of a patient, but is difficult to automate.

To this end, the applicant has proposed a saw blade type craniotomy device which enables direct craniotomy by a saw blade.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, the present invention provides a flexible shaft module and a saw blade type craniotomy device thereof, wherein the flexible shaft module can achieve retraction and extension of a flexible shaft as required and rotation of the flexible shaft.

In order to achieve the purpose, the invention provides a flexible shaft module which comprises a flexible shaft, a flexible shaft guide cylinder, a flexible shaft transmission cylinder, a flexible shaft disc and a flexible shaft frame, wherein the flexible shaft frame is arranged on a cutting frame; one end of the flexible shaft is coaxially assembled with the saw blade power cylinder, the other end of the flexible shaft is arranged in the flexible shaft disc, and the flexible shaft disc is wound and coiled, and the flexible shaft can be drawn out of or retracted into the flexible shaft disc;

a flexible shaft transmission cylinder is arranged on the flexible shaft disc, and a hollow flexible shaft transmission hole is formed in the interior of the flexible shaft transmission cylinder; the flexible shaft penetrates through the flexible shaft transmission hole and the flexible shaft guide hole and is assembled with the flexible shaft transmission hole and the flexible shaft guide hole in an axially sliding manner, the flexible shaft guide hole is arranged in the flexible shaft guide cylinder, the flexible shaft guide cylinder is fixedly arranged on the third flexible shaft frame plate and the second flexible shaft frame plate, and the flexible shaft transmission cylinder and the first flexible shaft frame plate can rotate circumferentially and cannot move axially for assembly;

a coil cylinder is mounted on the second flexible shaft frame plate, a soft iron sleeve is mounted in the coil cylinder, the soft iron sleeve is sleeved on a soft iron shaft, two ends of the soft iron shaft are respectively assembled with the coil cylinder, and the soft iron sleeve and the soft iron shaft are both made of soft iron; the soft iron sleeve is sleeved with a coil, the coil generates a magnetic field after being electrified, and the coil cylinder is sleeved on the flexible shaft transmission cylinder in an axially slidable manner;

one end of the flexible shaft guide cylinder, which is close to the flexible shaft transmission cylinder, is provided with a flexible shaft limiting ring, the flexible shaft limiting ring is used for limiting the maximum displacement point of the flexible shaft telescopic ring, and the flexible shaft telescopic ring is sleeved on the flexible shaft transmission cylinder in an axially slidable manner;

the flexible shaft is provided with a spiral groove along the length direction, the spiral groove can be assembled with a telescopic ball in a clamping manner, the telescopic ball can be arranged at one end of a telescopic lock shaft in a spherical rolling manner, the other end of the telescopic lock shaft is arranged in a yielding slide hole, the yielding slide hole is arranged in a telescopic lock cylinder, a yielding slide ring is arranged at one end of the telescopic lock shaft arranged in the yielding slide hole, and the yielding slide ring and the yielding slide hole can be axially assembled in a sliding manner; the telescopic lock cylinder is provided with a telescopic lock cylinder inclined plane on one end away from the telescopic ball, the telescopic lock cylinder inclined plane is attached to the telescopic ring conical surface, and the telescopic ring conical surface is arranged on the inner side of the flexible shaft telescopic ring.

Preferably, the flexible shaft transmission cylinder is provided with a flexible shaft guide ring, the flexible shaft guide ring is provided with a flexible shaft unlocking hole, the flexible shaft unlocking hole is axially assembled with one end of a flexible shaft unlocking rod in a sliding manner, the other end of the flexible shaft unlocking rod is sleeved with a flexible shaft unlocking spring and then assembled with an unlocking block top plate, and the flexible shaft unlocking spring is used for applying elastic force to the unlocking block top plate to prevent the unlocking block top plate from moving to the flexible shaft guide ring; the unlocking slide ring is sleeved on the flexible shaft transmission cylinder in an axially sliding manner, and has magnetism, and the unlocking slide is opposite to the homopolar magnetic field generated by the coil.

Preferably, the bottom of flexible axle expansion ring contacts or assembles with flexible axle expanding spring's top, flexible axle expanding spring's bottom and second snap ring paste tightly or contact, second snap ring, first snap ring are installed respectively to flexible axle guide cylinder position in the both ends face department of third flexible axle frame board, but second snap ring, first snap ring respectively with the laminating of third flexible axle frame board, the assembly of circumferential rotation.

Preferably, the yielding sliding hole is internally provided with a yielding screw plug, a first yielding spring is arranged on the part of the yielding sliding hole between the yielding screw plug and the yielding sliding ring, and the first yielding spring is used for applying elastic force to the yielding sliding ring to prevent the yielding sliding ring from moving towards the yielding screw plug;

a second abdicating spring is sleeved on the part of the telescopic lock shaft, which is positioned between the telescopic lock cylinder and the inner end surface of the abdicating shaft hole, and the second abdicating spring is used for applying elastic force to the telescopic lock cylinder to prevent the telescopic lock cylinder from moving to the telescopic ball; in the initial state, the inclined plane of the telescopic lock cylinder is attached to the conical surface of the telescopic ring, and at the moment, the telescopic ball does not enter the guide hole of the flexible shaft; the flexible shaft telescopic ring has magnetism, and the flexible shaft telescopic ring is opposite to the same pole of a magnetic field generated by the coil.

The invention also discloses a saw blade type craniotomy device which is applied with the flexible shaft module.

Preferably, the saw blade support further comprises a connecting frame, a connecting cover is arranged on the connecting frame, a connecting frame bottom plate is arranged at the bottom of the connecting cover, a feed push rod motor and a feed displacement sensor are arranged on the connecting frame bottom plate, a feed telescopic shaft is arranged on the feed push rod motor, one end of the feed telescopic shaft penetrates through the connecting frame bottom plate and then is assembled with a first saw blade frame shell of the saw blade frame, the first saw blade frame shell is further assembled with one end of a feed guide shaft, and the other end of the feed guide shaft penetrates through the connecting frame bottom plate and can be axially assembled with the connecting frame bottom plate in a sliding mode;

the first saw blade frame shell is internally provided with a rotating frame, the rotating frame and a rotating main shaft can be assembled in a circumferential rotating mode, a rotating worm wheel is sleeved on the rotating main shaft, the rotating worm wheel is partially meshed with a rotating worm to form a worm and gear transmission mechanism, the rotating worm is partially arranged on a rotating output shaft of a rotating main motor, and the rotating output shaft and the rotating frame can be assembled in a circumferential rotating mode; the rotating spindle penetrates through the first saw blade frame shell and then is assembled with the second saw blade frame shell;

the second saw blade frame shell is provided with two second saw blade frame shaft plates which are arranged in parallel, the two second saw blade frame shaft plates are assembled with the side-shifting guide shaft and the side-shifting screw rod respectively, can rotate circumferentially and cannot move axially, the side-shifting guide shaft and the side-shifting screw rod respectively penetrate through the side-shifting power plate, the side-shifting guide shaft and the side-shifting power plate can slide axially and are assembled, and the side-shifting screw rod and the side-shifting power plate are assembled in a screwing mode through threads; one end of the side-shifting screw rod is fixedly connected with an output shaft of the side-shifting motor;

the lateral moving power plate is arranged on the lateral moving frame, a saw blade seat is arranged on the lateral moving frame, a saw blade module is arranged on the saw blade seat, and a saw blade is arranged on the saw blade module and used for cutting;

the side moving frame is provided with two side moving shaft plates which are parallel to each other, the two side moving shaft plates are assembled with the cutting guide shaft and the cutting screw rod respectively in a circumferential rotating and non-axial moving mode, the cutting guide shaft and the cutting screw rod respectively penetrate through the cutting power plate, the cutting guide shaft and the cutting power plate can be assembled in an axial sliding mode, the cutting screw rod and the cutting power plate are assembled in a screwing mode through threads, one end of the cutting screw rod is connected with a cutting motor shaft of a cutting motor through a cutting belt and forms a belt transmission mechanism, and the cutting motor is installed on the side moving frame;

the cutting power plate is arranged on the cutting frame, the cutting frame is respectively provided with a flexible shaft module and a saw blade seat, the saw blade seat comprises a saw blade seat shell, two saw blade seat shaft plates which are parallel to each other are arranged in the saw blade seat shell, the two saw blade seat shaft plates are respectively assembled with a main motor shaft in a circumferential rotating manner, a main shaft worm part is arranged on the main motor shaft, and the main shaft worm part is meshed with a main shaft worm wheel to form a worm and gear transmission mechanism; the bottom of the saw blade seat shell is provided with a limiting table and two clamping boxes which are parallel to each other;

the main shaft worm wheel is sleeved on a main shaft rotary drum, the main shaft rotary drum is hollow, and is not circumferentially rotatable with a base body rotating head and can be axially movably assembled, the base body driving head is arranged at one end of a base body transmission shaft, a main shaft screw plug is arranged in the main shaft rotary drum, a main shaft spring is arranged on a part, positioned between the base body rotating head and the main shaft screw plug, in the main shaft rotary drum, and the main shaft spring is used for applying thrust far away from the main shaft screw plug to the base body rotating head; the saw blade seat shell is characterized in that the other end of the seat body transmission shaft penetrates through the main shaft rotary drum and then is assembled with the main shaft bevel gear, the main shaft rotary drum and the seat body transmission shaft are circumferentially and rotatably arranged on a main shaft block, the main shaft block is arranged on the saw blade seat shell, a main shaft block ring is further arranged on the main shaft block, the main shaft block can be inserted into the main shaft slot, and the main shaft block ring is used for limiting the depth of the main shaft block inserted into the main shaft slot.

Preferably, the cutting power plate is further assembled with one end of a cutting detection shaft of the cutting displacement sensor, the other end of the cutting detection shaft is installed in the cutting displacement sensor, the cutting power plate can drive the cutting detection shaft to move synchronously when moving, so that a signal is input to the cutting displacement sensor, the cutting displacement sensor inputs the signal into the industrial personal computer, so that the cutting length is judged, and the cutting displacement sensor is installed on the side moving frame;

a clamping box groove is formed between the two clamping boxes, one end, far away from the saw blade, of each clamping box is provided with a clamping box end plate, and a clamping box shaft plate is arranged on each clamping box end plate;

the two clamping box shaft plates are respectively assembled with a flexible shaft guide shaft in a circumferential rotation mode, a tension sensor is mounted on the flexible shaft guide shaft, the flexible shaft bypasses the tension sensor and is tightly pressed with the tension sensor, so that the tension of the flexible shaft is detected through the tension sensor, and a detected signal is input into the industrial personal computer in real time through the tension sensor;

the clamping lock plate is characterized in that two ends of the clamping lock plate are respectively assembled with the clamping lock shaft and one end of the clamping spring, the other end of the clamping spring is attached to or assembled with the inner wall of the clamping lock cavity, the clamping spring is used for applying elastic force to the clamping lock plate to push the clamping lock shaft, and the other end of the clamping lock shaft penetrates out of the clamping box and then is assembled with the clamping unlock plate;

the saw blade shell lock rod is sleeved with a locking spring on the part between the first clamping box partition plate and the saw blade shell lock block, and the locking spring is used for applying thrust far away from the first clamping box partition plate to the saw blade shell lock block.

Preferably, the saw blade module comprises a saw blade shell and a saw blade, one end of the saw blade shell is assembled with the dust cover, the saw blade is installed in the dust cover, the saw blade is sleeved on the saw blade shaft, and the saw blade shaft and the dust cover can be circumferentially and rotatably assembled; the dustproof cover is provided with a through air exhaust port;

a dust suction cavity, a replacing opening, an exhaust opening, a transmission cavity, a switching through groove, a main shaft slot and a switching cavity are respectively arranged in the saw blade shell, the dust suction cavity and the transmission cavity are hermetically divided by a first saw blade partition plate, the main shaft slot and the transmission cavity are divided by a second saw blade partition plate, the main shaft slot and the switching cavity are divided by a third saw blade partition plate, the top of the switching cavity is communicated with the switching through groove, and one end of the switching cavity, far away from the main shaft slot, is divided by a fourth saw blade partition plate; the first saw blade clapboard, the second saw blade clapboard, the third saw blade clapboard and the fourth saw blade clapboard are respectively arranged in the saw blade shell;

the taking and replacing port, the exhaust port and the air suction port are respectively communicated with a dust suction cavity, a dust suction cover is arranged at the position of the dust suction cavity corresponding to the taking and replacing port, a plurality of penetrating dust suction holes are formed in the dust suction cover, the dust suction cover is used for absorbing cuttings, and the dust suction holes are used for facilitating air flow to penetrate through; the replacing opening is sealed by a replacing cover which is arranged on the saw blade shell;

the part of the dust suction cavity between the exhaust port and the dust suction cover is provided with an impeller, the impeller is sleeved on an impeller shaft, and negative pressure can be generated on one end, facing the exhaust port, of the dust suction cavity when the impeller rotates, and the negative pressure can form airflow flowing from the exhaust port to the exhaust port;

the impeller shaft is connected with the saw blade shaft through a first saw blade belt to form a belt transmission mechanism, the impeller shaft is also connected with a transfer shaft through a second saw blade belt to form a belt transmission mechanism, a first transfer bevel gear is mounted on the transfer shaft, the first transfer bevel gear is in meshing transmission with a second transfer bevel gear, the second transfer bevel gear is sleeved on a saw blade power shaft, the saw blade power shaft can be circumferentially and rotatably assembled with a second saw blade partition plate and a third saw blade partition plate, and the impeller shaft and the transfer shaft can be circumferentially and rotatably assembled with a saw blade shell respectively;

the saw blade power shaft is sleeved with a power bevel gear on the part, located in the main shaft slot, of the saw blade power shaft, one end, located in the switching cavity, of the saw blade power shaft is installed in a clutch sliding hole of the saw blade power cylinder and assembled with the saw blade power head, the saw blade power head and the clutch sliding hole can axially slide and cannot be assembled in a relative circumferential rotation mode, the saw blade power cylinder and a fourth saw blade partition plate can circumferentially rotate and can axially move and be assembled, and the saw blade power shaft cannot axially move; a clutch plug is also arranged in the saw blade power cylinder and can be tightly pressed with the end surface of the saw blade power head so as to realize linkage;

the saw blade power cylinder is also sleeved with a switching block, and the switching block is provided with a switching inclined plane; one end of the saw blade power cylinder, which penetrates out of the fourth saw blade partition plate, is coaxially connected with the flexible shaft, and a switching spring is sleeved on a part, which is located between the switching block and the fourth saw blade partition plate, of the saw blade power cylinder and is used for applying elastic force to the saw blade power cylinder, wherein the elastic force pushes the saw blade power cylinder towards the third saw blade partition plate.

The invention has the beneficial effects that:

1. the invention has simple structure, can cut the skull through the rotation of the saw blade so as to realize the operation of craniotomy, and can monitor the distance between the saw blade and the cutting surface and the three-dimensional image data of the cutting surface by utilizing the micro infrared distance measuring sensor and the binocular camera, thereby providing a basis for subsequent intelligent and remote operation.

2. The saw blade module drives the saw blade to rotate circumferentially and simultaneously utilizes the impeller to generate negative pressure so as to generate negative pressure on the saw blade, and the mode not only can increase the heat dissipation efficiency of the saw blade, but also can suck away cutting scraps in time so as to prevent the cutting scraps from polluting an operation surface. In addition, the power source of the saw blade power shaft can be flexibly switched together with the saw blade seat according to the requirement, so that the saw blade is directly driven by the main motor A620 in an automatic mode, and higher torque output and cutting efficiency can be obtained; can pass through flexible axle conveying power when handheld saw bit module in order to guarantee the flexibility when handheld.

3. The flexible shaft module can retract and release the flexible shaft B510 according to the requirement, so that the flexible shaft can be tightened, the transmission of the flexible shaft can be ensured, and the requirement on flexibility in hand holding is met.

Drawings

Fig. 1-6 are schematic structural views of the present invention. Wherein FIG. 3 is a cross-sectional view of the center plane of the axis of the connectingcolumn 460; fig. 4 is an enlarged view of fig. 3 at F1, and fig. 5 and 6 are enlarged views of fig. 4 at F2 and F3, respectively.

Fig. 7-8 are schematic views of the structure at the base.

Fig. 9-14 are schematic views of the structure of the blade holder.

FIG. 15 is a schematic structural view of the saw blade holder, the saw blade module and the flexible shaft module.

FIG. 16 is a schematic structural diagram of the saw blade holder and the flexible shaft module.

Fig. 17-20 are schematic views of the structure at the saw blade seat. Wherein fig. 18 is a cross-sectional view at the center plane of the axis of the transmission shaft B360 of the holder body.

Fig. 21 is a schematic structural diagram of the flexible shaft module and the saw blade module.

Fig. 22-24 are schematic structural views of a blade module. With a section view at the central plane of the blade power shaft a440 axis of fig. 22.

Fig. 25-32 are schematic structural diagrams of the flexible shaft module. FIG. 28 is a schematic structural view of a flexible shaft B510, a telescopic lock shaft B680 and a flexible shaft clamping rod B390; FIG. 29 is a cross-sectional view of the central plane of the flexible shaft B510; FIG. 30 is an enlarged view at F4 of FIG. 29; FIG. 31 is a cross-sectional view of the flexible shaft clamping rod B390 at the center plane of the axis; fig. 32 is a schematic structural diagram of the wedge block B660 and the unlocking block B641.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-32, the saw-blade type craniotomy device of the present embodiment comprises abase 110, whereinuniversal wheels 210 are mounted on thebase 110, and theuniversal wheels 210 have a braking function and are used for facilitating carrying of the invention; still install on the base and support rotatingelectrical machines 220, andbase 110 is inside still to installrotatory gear wheel 330,rotatory pinion gear 340 respectively,rotatory gear wheel 330, the transmission ofrotatory pinion gear 340 intermeshing,rotatory pinion gear 340 suit is on supporting rotatingelectrical machines shaft 221, support rotatingelectrical machines shaft 221 and pack into and support rotatingelectrical machines 220 in, support rotatingelectrical machines 220 can drive after starting and support rotatingelectrical machines shaft 221 circular rotation.

The outer wall of the rotating gearwheel 330 is provided with a plurality of rotating latch 331 which are uniformly distributed along the circumference of the rotating gearwheel 330, the rotating gearwheel 330 is hollow and has an opening at the bottom, the opening at the bottom of the rotating gearwheel 330 is sealed by a rotating end cover 322, a lifting motor 240 and two lifting shaft plates 3321 which are parallel to each other are respectively arranged in the rotating gearwheel 330 and on the rotating end cover 322, the two lifting shaft plates 3321 can be respectively assembled with a lifting motor shaft 241 in a circumferential rotating manner, and the lifting motor shaft 241 is arranged in the lifting motor 240; a lifting worm part 352 is arranged on the lifting motor shaft 241, the lifting worm part 352 is meshed with a lifting worm wheel 351 to form a worm wheel and worm transmission mechanism, the lifting worm wheel 351 is sleeved on a lifting screw 410, the lifting screw 410 can be circumferentially assembled with a rotating large gear 330 through a first lifting shaft groove 321 and can not be axially assembled, and the bottom of the lifting screw 410 penetrates through the rotating large gear 330 and then can be circumferentially assembled with a base plate 111 through a second lifting bearing 322 and can not be axially assembled; the lifting screw 410 and the base 110 are assembled in a way of circumferential rotation and axial movement incapability through a base bearing 311, the base bearing 311 is installed on the supporting tray 310, and the base bearing 311 and the base are assembled in a way of circumferential rotation and axial movement incapability. Thesupport tray 310 is fixed to therotary bull gear 330 by asupport coupling ring 312.

The supportingtray 310 is provided with alifting supporting cylinder 130, thelifting supporting cylinder 130 is internally provided with a hollowlifting supporting cavity 131, thelifting supporting cavity 131 is clamped with alifting column 140 and can not rotate circumferentially relatively and can be assembled in an axial sliding manner, thelifting column 140 is sleeved on a liftingscrew 410 and assembled with the lifting screw through screw threads in a screwing manner, and the top of thelifting column 140 penetrates out of thelifting supporting cavity 131 and then is assembled with a liftingseat 150. When the liftingseat 150 is required to be lifted, the liftingmotor 240 rotates circumferentially to drive the liftingscrew 410 to rotate circumferentially, and the liftingscrew 410 drives thelifting column 140 to move axially through threads. When the liftingsupport cylinder 130 needs to be rotated circumferentially, thebase rotating motor 220 is started, and thebase rotating motor 220 drives therotating gearwheel 330 to rotate so as to drive the liftingsupport cylinder 130 to rotate circumferentially.

base side plates

154, 155, one end of the side-turn worm shaft 440 is fixedly coupled to an output shaft of the side-turn motor 230 through a coupling, and the side-turn motor 230 can drive the side-turn worm shaft 440 to circumferentially rotate after being started, so as to drive the side-turn worm-gear shaft 430 to circumferentially rotate.

The side rotating worm gear shaft 430 is fixedly assembled with the side rotating shaft block 161 at a position between the first lifting seat vertical plate 151 and the second lifting seat vertical plate 152, the side rotating shaft block 161 is installed on the telescopic seat 160, the telescopic seat 160 is further provided with a telescopic slide rail 510, a first telescopic seat plate 162 and a second telescopic seat plate 163, the telescopic slide rail 510 is clamped with the telescopic slide groove 172 and rotatably assembled, the telescopic slide groove 172 is arranged on the telescopic slide seat 170, one end of the telescopic slide seat 170 penetrates through the second telescopic seat plate 163 and then is assembled with the telescopic power block 171, the first telescopic seat plate 162 and the second telescopic seat plate 163 are respectively assembled with the telescopic screw 450 in a circumferential rotation and non-axial movement manner, the telescopic screw 450 penetrates through the telescopic power block 171 and is assembled with the telescopic power block in a screwing manner, one end of the telescopic screw 450 is fixedly connected with an output shaft of the telescopic motor 250 through a coupler, and the telescopic motor 250 can drive the telescopic screw 450 to circumferentially rotate after being started, thereby driving the telescopic slide 170 to move along the axial direction thereof to realize the telescopic slide 170 to be telescopic with respect to the telescopic mount 160.

The telescopic slidingseat 170 is further assembled with ahinge ball 520 to form a spherical hinge, thehinge ball 520 is installed at one end of a connectingcolumn 460, the other end of the connectingcolumn 460 is fixedly assembled with a connectingtop plate 181 of the connectingframe 180, the connectingframe 180 is hinged with a rotarytelescopic rod 261 through asecond hinge pin 482, one end of the rotarytelescopic rod 261 is installed in theelectric cylinder 260, a shell of theelectric cylinder 260 is hinged with the telescopic slidingseat 170 through afirst hinge pin 481, and theelectric cylinder 260 can drive the rotarytelescopic rod 261 to stretch and retract after being started, so that the connectingframe 180 is driven to rotate relative to thetelescopic seat 160.

Install thelink cover 181 on thelink frame 180,link cover 181 bottom installs linkbottom plate 182, install feed push rod motor B210, feed displacement sensor B271 on thelink bottom plate 182, install feed telescopic shaft B211 on the feed push rod motor B210, feed telescopic shaft B211 one end is passedlink bottom plate 182 back and is assembled with saw blade frame B's first saw blade frame shell B110, first saw blade frame shell B110 still assembles with feed guiding axle B310 one end, but thelink bottom plate 182 is worn out to the feed guiding axle B310 other end and the assembly of axial sliding with it. After the feed push rod motor B210 is started, the feed telescopic shaft B211 can be driven to axially move, so that the saw blade frame B is driven to synchronously lift to control the cutting depth of the saw blade and the distance between the saw blade and a cutting surface. The feed detection shaft B2711 of the feed displacement sensor B271 is assembled with the first blade holder shell B110, the first blade holder shell B110 can drive the feed detection shaft B2711 to move synchronously when moving, so that signals are input to the feed displacement sensor B271, and the feed displacement sensor B271 detects the axial displacement of the feed telescopic shaft B211, namely the feed of a saw blade and feeds the signals back to the industrial personal computer.

Install swivel mount B130 in the first saw bit frame shell B110, install rotary encoder B220 on the swivel mount B130, rotary encoder B220's input shaft and rotatory main shaft B320 coaxial coupling, can drive rotary encoder B220's input shaft synchronous rotation when rotatory main shaft B320 rotates to detect the turned angle of rotatory main shaft B320 through rotary encoder B220, and with the turned angle signal input industrial computer. The rotating main shaft B320 is sleeved with a rotating worm wheel B411, the rotating worm wheel B411 is meshed with a rotating worm part B412 to form a worm wheel and worm transmission mechanism, the rotating worm part B412 is arranged on a rotating output shaft B291 of a rotating main motor B290, and the rotating output shaft B291 and a rotating frame B130 can be assembled in a circumferential rotating mode; the rotating spindle B320 passes through the first blade holder housing B110 and then is assembled with the second blade holder housing B120. After the rotating main motor B290 is started, the rotating main shaft B320 can be driven to rotate circularly, so that the second saw blade frame shell B120 is driven to rotate synchronously.

The second saw blade frame shell B120 is provided with two second saw blade frame shaft plates B121 which are parallel to each other, the two second saw blade frame shaft plates B121 are assembled with a side-moving guide shaft B331 and a side-moving screw B332 respectively in a circumferential rotating and non-axial moving mode, the side-moving guide shaft B331 and the side-moving screw B332 respectively penetrate through a side-moving power plate B141, the side-moving guide shaft B331 and the side-moving power plate B141 can be assembled in an axial sliding mode, and the side-moving screw B332 and the side-moving power plate B141 are assembled in a screwing mode through threads; one end of the side shift screw B332 is fixedly connected with an output shaft of a side shift motor B280 through a coupler, and the side shift motor B280 can drive the side shift screw B332 to rotate circumferentially after being started, so that the side shift power plate B141 is driven to move along the axial direction of the side shift power plate B141.

The side-shifting power plate B141 is arranged on the side-shifting frame B140, two side-shifting shaft plates B142 which are parallel to each other are mounted on the side-shifting frame B140, the two side-shifting shaft plates B142 can be respectively assembled with the cutting guide shaft B341 and the cutting screw B342 in a circumferential rotating and non-axial moving mode, the cutting guide shaft B341 and the cutting screw B342 respectively penetrate through the cutting power plate B151, the cutting guide shaft B341 and the cutting power plate B151 can be assembled in an axial sliding mode, the cutting screw B342 and the cutting power plate B151 are assembled in a threaded screwing mode, one end of the cutting screw B342 is connected with a cutting motor shaft B231 of the cutting motor B230 through a cutting belt B470 to form a belt transmission mechanism, and the cutting motor B230 is mounted on the side-shifting frame B140. After being started, the cutting motor B230 can drive the cutting screw B342 to rotate circumferentially, so that the cutting power plate B151 is driven to move axially along the cutting screw B342. The cutting power plate B151 is mounted on the cutting frame B150, the cutting frame B150 is respectively provided with a flexible shaft module and a saw blade seat, the saw blade seat comprises a saw blade seat shell B160, two saw blade seat shaft plates B161 which are parallel to each other are mounted in the saw blade seat shell B160, the two saw blade seat shaft plates B161 are respectively assembled with a main motor shaft A621 in a circumferential rotating manner, a main shaft worm part B452 is arranged on the main motor shaft A621, and the main shaft worm part B452 is meshed with a main shaft worm wheel B451 to form a worm and gear transmission mechanism; and the bottom of the saw blade seat shell B160 is provided with a limiting table B162 and two clamping boxes A160 which are parallel to each other.

The cutting power plate B151 is further assembled with one end of a cutting detection shaft B2721 of the cutting displacement sensor B272, the other end of the cutting detection shaft B2721 is installed in the cutting displacement sensor B272, the cutting power plate B151 can drive the cutting detection shaft B2721 to move synchronously when moving, so that signals are input into the cutting displacement sensor B272, the cutting displacement sensor B272 inputs the signals into the industrial personal computer, and the cutting length is judged. The cutting displacement sensor B272 is installed on the side shifting frame B140.

A spindle worm wheel B451 is sleeved on a spindle drum B350, the spindle drum B350 is hollow and is assembled with a base body rotating head B361 in a non-circumferential rotation mode and in an axial moving mode, the base body rotating head B361 is installed at one end of a base body transmission shaft B360, a spindle plug B351 is installed in the spindle drum B350, a spindle spring B710 is installed on a portion, located between the base body rotating head B361 and the spindle plug B351, in the spindle drum B350, and the spindle spring B710 is used for applying thrust far away from the spindle plug B351 to the base body rotating head B361; the other end of the seat body transmission shaft B360 penetrates through the main shaft rotary drum B350 and then is assembled with a main shaft bevel gear B460, the main shaft rotary drum B350 and the seat body transmission shaft B360 are circumferentially and rotatably installed on a main shaft block B170, the main shaft block B170 is installed on a saw blade seat shell B160, a main shaft block ring B171 is further installed on the main shaft block B170, the main shaft block B170 can be inserted into the main shaft slot A116, and the main shaft block ring B171 is used for limiting the depth of the main shaft block B170 inserted into the main shaft slot A116.

A clamping box groove A167 is formed between the two clamping boxes A160, one end, far away from the saw blade A310, of each clamping box A160 is provided with a clamping box end plate A161, and a clamping box shaft plate A162 is arranged on the clamping box end plate A161. But two joint box axial plates A162 respectively with flexible axle guiding axle A630 circumferencial rotation assembly, install tension sensor A631 on the flexible axle guiding axle A630, flexible axle B510 is walked around tension sensor A631 and is compressed tightly with tension sensor A631 to detect the tension of flexible axle B510 through tension sensor A631, tension sensor A631 will detect the signal real-time input industrial computer. The clamping box end plate A161 is tightly attached to the end surface of the saw blade shell A110, a saw blade shell locking groove A119 is formed in the saw blade shell A110, the saw blade shell lock slot A119 is assembled with a saw blade shell lock block A220 in a clamping way, the saw blade shell lock block A220 is assembled with one end of a saw blade shell lock rod A230, one end of the saw blade shell lock rod A230 passes through the first clamping box partition plate A164 and then is assembled with a saw blade shell slide rod A231, the blade shell locking block A220 is clamped with the blade shell locking block groove A166 and can be assembled in a sliding way, a second clamping box partition plate A165 is arranged at the top of the saw blade shell locking block groove A166, a clamping locking cavity A163 is arranged in the clamping box A160, a clamping lock plate A240 is slidably arranged in the clamping lock cavity A163, a clamping lock block A250 is arranged at the position of the clamping lock plate A240 corresponding to the saw blade shell sliding rod A231, the clamping locking block A250 is provided with a clamping locking block inclined plane A251, and the clamping locking block inclined plane A251 is gradually far away from the clamping locking plate A240 from one end to the other end. Joint jam plate A240 both ends respectively with joint lock axle A460, joint spring A550 one end assembly, joint spring A550 other end pastes tightly or assembles with the inner wall of joint lock chamber A163, joint spring A550 is used for applying the elasticity that promotes to joint lock axle A460 to joint jam plate A240, joint lock axle A460 other end is worn out behind the joint box A160 and is separated jam plate A210 assembly with the joint. When the blade shell a110 needs to be taken out, the clamping unlocking plate a210 is pushed towards the clamping locking plate a240 against the elastic force of the clamping spring a550, so that the clamping locking block inclined surface a251 is matched with the blade shell sliding rod a231 to drive the blade shell locking rod a230 to gradually move away from the clamping box groove a167, and the blade shell a110 can be taken out of the clamping box groove a167 by pulling the blade shell locking block a220 out of the blade shell locking groove a 119. Snap lock cavity A163, blade housing lock block slot A166, and snap box slot A167 are all disposed within snap box A160.

Preferably, a locking spring a540 is sleeved on a portion of the blade housing locking lever a230 located between the first snap box partition a164 and the blade housing locking block a220, and the locking spring a540 is used for applying a pushing force to the blade housing locking block a220 away from the first snap box partition a 164.

The saw blade module A comprises a saw blade shell A110 and a saw blade A310, one end of the saw blade shell A110 is assembled with a dust cover A130, the saw blade A310 is installed in the dust cover A130, the saw blade A310 is sleeved on a saw blade shaft A410, and the saw blade shaft A410 and the dust cover A130 can be assembled in a circumferential rotating mode; the dust cover a130 is provided with a penetrating air extraction opening a 131.

A dust suction cavity A111, a replacing opening A112, an exhaust opening A113, a transmission cavity A114, a switching through groove A115, a spindle slot A116 and a switching cavity A117 are respectively arranged in the saw blade shell A110, the dust suction cavity A111 and the transmission cavity A114 are hermetically divided by a first saw blade partition plate A151, the spindle slot A116 and the transmission cavity A114 are divided by a second saw blade partition plate A152, the spindle slot A116 and the switching cavity A117 are divided by a third saw blade partition plate A153, the top of the switching cavity A117 is communicated with the switching through groove A115, and one end, far away from the spindle slot A116, of the switching cavity A117 is divided by a fourth saw blade partition plate A154; the first saw blade clapboard A151, the second saw blade clapboard A152, the third saw blade clapboard A153 and the fourth saw blade clapboard A154 are respectively arranged in the saw blade shell A110;

the replacing port A112, the exhaust port A113 and the suction port A131 are respectively communicated with the dust suction cavity A111, a dust suction cover A320 is installed at the position, corresponding to the replacing port A112, of the dust suction cavity A111, a plurality of penetrating dust suction holes are formed in the dust suction cover A320, the dust suction cover is used for absorbing cuttings in use, and the dust suction holes are used for facilitating air flow to penetrate through. The dust hood A320 can carry static electricity or be coated with viscose, so that the dust can be conveniently adsorbed. The access opening a112 is closed by an access cover a140, and the access cover a140 is mounted to the blade housing a 110.

The part of the dust suction cavity A111, which is positioned between the exhaust port A113 and the dust suction cover A320, is provided with the impeller A330, the impeller A330 is sleeved on the impeller shaft A420, and when the impeller A330 rotates circumferentially, negative pressure can be generated at one end, facing the exhaust port A131, of the dust suction cavity A111, the negative pressure can form airflow flowing from the exhaust port A131 to the exhaust port A113, on one hand, cuttings can be sucked, on the other hand, the airflow speed on the surface of the saw blade can be accelerated, and therefore the temperature of the saw blade can be reduced.

The impeller shaft A420 is connected with the saw blade shaft A410 through a first saw blade belt A360 to form a belt transmission mechanism, the impeller shaft A420 is further connected with a middle rotating shaft A430 through a second saw blade belt A370 to form the belt transmission mechanism, a first middle rotating bevel gear A341 is installed on the middle rotating shaft A430, the first middle rotating bevel gear A341 is in meshing transmission with a second middle rotating bevel gear A342, the second middle rotating bevel gear A342 is sleeved on a saw blade power shaft A440, the saw blade power shaft A440, a second saw blade clapboard A152 and a third saw blade clapboard A153 can be circumferentially and rotatably assembled, and the impeller shaft A420 and the middle rotating shaft A430 can be circumferentially and rotatably assembled with the saw blade shell A110 respectively.

Preferably, a miniature infrared distance measuring sensor a611 and a binocular camera a612 are installed on one end, close to the saw blade, of the saw blade shell a110, the miniature infrared distance measuring sensor a611 is used for detecting the distance between the saw blade and a cutting surface, the binocular camera a612 is used for acquiring an image of the cutting surface corresponding to the saw blade, and the image can be recognized and converted into a three-dimensional coordinate (the saw blade is used as an origin, and the cutting position is used as a coordinate point). This design is primarily intended to facilitate subsequent automation.

Preferably, install cartridge locating plate A118 on blade shell A110, cartridge locating plate A118 and joint box A160 keep away from the terminal surface laminating of joint box end plate A161 one end, the terminal surface laminating of joint box end plate A161 inboard and blade shell A110 to make blade module A fix a position so that the cartridge between blade module and the blade seat with the blade seat in length direction.

When the saw blade module is installed on the saw blade seat, the linkage inclined plane B181 is attached to the switching inclined plane A711, the linkage block B180 penetrates through the switching through groove A115 and then is installed in the switching cavity A117, the maximum insertion depth of the linkage block B in the switching cavity A117 is reached, the switching block A710 is extruded towards the fourth saw blade partition plate A154 at the moment, the clutch plug A520 is far away from the saw blade power head A530 to move, the clutch plug A520 is not in contact with the saw blade power head A530 at the moment, and the saw blade power shaft A440 cannot drive the saw blade power cylinder A450 to synchronously rotate when rotating; the spindle block B170 is inserted into the spindle slot A116, the spindle block ring B171 is attached to the saw blade shell A110, the spindle block B170 reaches the maximum depth of entering the spindle slot A116, and at the moment, the spindle bevel gear B460 is in meshing transmission with the power bevel gear A350.

When the flexible shaft type saw blade driving mechanism is used, the main motor A620 is started, so that the main shaft bevel gear B460 drives the saw blade power shaft A440 to rotate circumferentially, but the flexible shaft module is not started, at the moment, the saw blade power shaft A440 rotates circumferentially relative to the saw blade power cylinder A450, and the main motor directly drives the saw blade A310, so that the energy loss is low, the cutting torque and the cutting speed are large, namely the cutting efficiency is high, and the flexible shaft is not subjected to transmission in the mode, so that the flexible shaft can be effectively protected. When the saw blade cuts, the cutting motor B230 is started to drive the saw blade to move axially along the cutting guide shaft, so that a straight long groove is cut. In this embodiment, the operation can be performed by cutting a triangular incision at the craniotomy. The triangular opening drives the rotating main shaft B320 to rotate through the rotating main motor B290 so as to drive the saw blade to synchronously rotate, and then the side-shifting motor B280 drives the saw blade to move along the side-shifting guide shaft B331 so as to splice three sides of a triangle to be cut, so that the triangular cutting is completed.

the flexible shaft transmission cylinder B540 is provided with a flexible shaft guide ring B650, the flexible shaft guide ring B650 is provided with a flexible shaft unlocking hole B651, the flexible shaft unlocking hole B651 is assembled with one end of a flexible shaft unlocking rod B370 in an axially sliding mode, the other end of the flexible shaft unlocking rod B370 is assembled with an unlocking block top plate B642 after being sleeved with a flexible shaft unlocking spring B730, and the flexible shaft unlocking spring B730 is used for applying elastic force for preventing the flexible shaft unlocking spring B642 from moving to the flexible shaft guide ring B650; the unlocking block top plate B642 is mounted at the top of the unlocking block B641, the bottom of the unlocking block B641 is mounted on an unlocking connecting block B640, the unlocking connecting block B640 is mounted on an unlocking slip ring B630, the unlocking slip ring B630 is axially slidably sleeved on the flexible shaft transmission cylinder B540, the unlocking slip ring B630 is magnetic, the unlocking slip ring B630 is made of a permanent magnet in the embodiment, and the unlocking slip ring B630 and a magnetic field generated by the coil B260 are opposite in homopolar.

The second flexible shaft frame plate B192 is further provided with a coil barrel B620, a soft iron sleeve B481 is arranged in the coil barrel B620, the soft iron sleeve B481 is sleeved on a soft iron shaft B480, two ends of the soft iron shaft B480 are respectively assembled with the coil barrel B620, and the soft iron sleeve B481 and the soft iron shaft B480 are both made of soft iron; the coil B260 is sleeved outside the soft iron sleeve B481, a magnetic field is generated after the coil B260 is electrified, and the magnetic field quickly magnetizes the soft iron sleeve B481 and the soft iron shaft B480, so that the soft iron sleeve B481 and the soft iron shaft B480 carry magnetism. The coil cylinder B620 is sleeved on the flexible shaft transmission cylinder B540 in an axially sliding manner.

The flexible shaft B510 is provided with a spiral groove B511 along the length direction, the spiral groove B511 can be clamped and assembled with a telescopic ball B810, the telescopic ball B810 can be installed at one end of a telescopic locking shaft B680 in a spherical rolling manner, the other end of the telescopic locking shaft B680 is installed in a yielding sliding hole B672, the yielding sliding hole B672 is arranged in a telescopic locking cylinder B670, one end of the telescopic locking shaft B680, which is installed in the yielding sliding hole B672, is provided with a yielding sliding ring B681, and the yielding sliding ring B681 and the yielding sliding hole B672 can be axially assembled in a sliding manner; an end, far away from the telescopic ball B810, of the telescopic lock cylinder B670 is provided with a telescopic lock cylinder inclined surface B671, the telescopic lock cylinder inclined surface B671 is attached to a telescopic ring conical surface B611, and the telescopic ring conical surface B611 is arranged on the inner side of the flexible shaft telescopic ring B610.

The yielding sliding hole B672 is internally provided with a yielding screw plug B820, a first yielding spring B760 is arranged on the part, located between the yielding screw plug B820 and the yielding sliding ring B681, of the yielding sliding hole B672, and the first yielding spring B760 is used for applying elastic force to the yielding sliding ring B681 to prevent the yielding sliding ring B681 from moving towards the yielding screw plug B820. The part of the telescopic lock shaft B680, which is located between the telescopic lock cylinder B670 and the inner end face of the abdicating shaft hole B522, is sleeved with a second abdicating spring B740, and the second abdicating spring B740 is used for applying elastic force to the telescopic lock cylinder B670 to prevent the telescopic lock cylinder B810 from moving. In the initial state, the inclined plane B671 of the telescopic lock cylinder is attached to the conical surface B611 of the telescopic ring, and at the moment, the telescopic ball B810 does not enter the flexible shaft guide hole B521, so that the flexible shaft B510 cannot stretch out and draw back. The flexible shaft telescopic ring B610 has magnetism, the present embodiment is made of a permanent magnet, and the permanent magnet is homopolar-opposite to a magnetic field generated by the coil B260, and the coil can generate repulsive magnetic force to the flexible shaft telescopic ring B610 and the unlocking slip ring B630 after being electrified to generate the magnetic field, so that the flexible shaft telescopic ring B610 and the unlocking slip ring B630 move away from each other along the axial direction. After the coil generates a magnetic field, the flexible shaft telescopic ring B610 is driven to overcome the elasticity of the flexible shaft telescopic spring B750 to move downwards, so that the conical surface B611 of the telescopic ring is matched with the inclined surface B671 of the telescopic lock cylinder to drive the telescopic lock cylinder B670 to move towards the flexible shaft B510, the telescopic lock cylinder B670 drives the telescopic ball B810 to be compressed with the flexible shaft, at the moment, if the telescopic ball B810 does not enter the spiral groove B511, the telescopic lock shaft B680 can slide relative to the telescopic lock cylinder B670, so that the telescopic ball B810 is compressed with the flexible shaft, and the flexible shaft rotates until the spiral groove B511 is clamped and assembled with the telescopic ball B810. At this time, along with the rotation of the flexible shaft B510, the flexible shaft is matched with the telescopic ball B810 through the spiral groove B511 to realize the contraction of the flexible shaft in the length direction. The telescopic ball B810 resets after the coil is powered off.

The flexible shaft transmission cylinder B540 is also provided with a flexible shaft clamping sliding hole B542, the flexible shaft clamping sliding hole B542 is clamped with the flexible shaft clamping sliding ring B391 and can be assembled in an axial sliding way, the flexible shaft clamping slip ring B391 is sleeved on the flexible shaft clamping rod B390, one end of the flexible shaft clamping rod B390 enters the flexible shaft transmission hole B541 and is tightly pressed with the flexible shaft B510, the other end of the flexible shaft clamping rod B390 passes through the clamping shaft block B830 and then is assembled with the wedge block B660, a clamping spring B720 is sleeved on the part of the flexible shaft clamping rod B390 positioned between the flexible shaft clamping slip ring B391 and the clamping shaft block B830, the clamping spring B720 is used for applying elastic force to the flexible shaft clamping slip ring B391 to prevent the flexible shaft clamping slip ring B391 from moving towards the clamping shaft block B830, the clamping shaft block B830 is arranged on the flexible shaft transmission cylinder B540, the wedge block B660 is provided with a wedge inclined plane B661, the wedge-shaped inclined surface B661 is attached to an unlocking block inclined surface B6411, and the unlocking block inclined surface B6411 is arranged on the unlocking block B641. In an initial state, the flexible shaft clamping rod B390 is pressed against the flexible shaft B510 under the action of the clamping spring B720, so that the flexible shaft B510 cannot stretch in the length direction. After the coil is electrified, the unlocking block B641 moves upwards, so that the wedge block B660 and the flexible shaft clamping rod B390 are driven to move away from the flexible shaft B510, the clamping of the flexible shaft is released, and the flexible shaft can move along the length direction of the flexible shaft at the moment.

The using process of the invention is as follows:

s1, firstly, drilling three holes on a required cutting surface according to the traditional requirement; thebase rotating motor 220, the liftingmotor 240, the siderotating motor 230, thetelescopic motor 250 and theelectric cylinder 260 are respectively started as required, so that the saw blade A310 is just opposite to the position to be cut.

S2, starting a feed push rod motor B210, enabling a clutch telescopic shaft B211 to drive a saw blade A310 to approach a surface to be cut, and detecting the distance between the saw blade and a cutting surface and an image of the cutting surface corresponding to the saw blade by a micro infrared distance measuring sensor and a binocular camera respectively.

S5, start main motor a620, cut motor B230, and blade a310 starts cutting. After cutting one line, the rotating main motor B290 is started, so that the rotating main shaft B320 rotates to drive the saw blade A310 to rotate, then another line is cut, and finally a third line is cut, and the craniotomy is completed.

S6, the cuttings in the cutting process are sucked into the dust hood A320 through the negative pressure generated by the impeller A330 and are adsorbed by the dust hood A320.

S7, considering the reliability problem of the machine, in this embodiment, when the saw blade is about to cut through the preset cutting plane, the cutting needs to be stopped, and the device of this embodiment is removed, and then the clamping unlocking plate a210 is pressed, so that the clamping unlocking plate a210 moves towards the clamping box a160 against the elastic force of the clamping spring a550, so that the clamping locking block a250 drives the saw blade housing locking rod a230 to move towards the clamping box a160, until the saw blade housing locking block a220 exits from the saw blade housing locking groove a119, the saw blade module a can be pulled out, after the saw blade module a is pulled out, the main shaft bevel gear B460 is separated from the power bevel gear a350, and the switching block a710 is pulled out of the switching cavity a117, so that the saw blade power head a530 and the clutch plug a520 are pressed and driven to realize the relative rotation between the saw blade power cylinder a450 and the saw blade power shaft a 440.

S8, starting a flexible shaft motor B250, wherein the flexible shaft motor B250 drives a flexible shaft disc B240 to rotate circumferentially so as to drive the flexible shaft to rotate circumferentially, and the flexible shaft drives a saw blade power shaft A440 to rotate circumferentially so as to facilitate hand-held cutting. And tension sensor A631 detects the tension that the flexible axle applied to it, in case tension is too big then release flexible axle (flexible axle extension), tension undersize then contract the flexible axle to can enough guarantee the transmission of flexible axle, ensure the tensioning of flexible axle again.

Of course, it is also possible to directly initially hold the blade module manually in a fully manual manner. When some non-living objects are cut, automatic cutting can be adopted in the whole process, and intelligent cutting or manual remote operation cutting can be realized along with the maturity of artificial intelligence and image recognition technology.

The embodiment is not only suitable for craniotomy, but also suitable for most of bone surgeries and bone cutting.

Claims

1. A flexible shaft module is characterized by comprising a flexible shaft, a flexible shaft guide cylinder, a flexible shaft transmission cylinder, a flexible shaft disc and a flexible shaft frame, wherein the flexible shaft frame is arranged on a cutting frame; one end of the flexible shaft is coaxially assembled with the saw blade power cylinder, the other end of the flexible shaft is arranged in the flexible shaft disc, and the flexible shaft disc is wound and coiled, and the flexible shaft can be drawn out of or retracted into the flexible shaft disc;

3. The flexible shaft module as claimed in claim 1, wherein a flexible shaft guide ring is mounted on the flexible shaft transmission cylinder, a flexible shaft unlocking hole is formed in the flexible shaft guide ring, the flexible shaft unlocking hole is axially slidably assembled with one end of the flexible shaft unlocking rod, the other end of the flexible shaft unlocking rod is assembled with an unlocking block top plate after being sleeved with a flexible shaft unlocking spring, and the flexible shaft unlocking spring is used for applying elastic force to the unlocking block top plate to prevent the unlocking block top plate from moving towards the flexible shaft guide ring; the unlocking slide ring is sleeved on the flexible shaft transmission cylinder in an axially sliding manner, and has magnetism, and the unlocking slide is opposite to the homopolar magnetic field generated by the coil.

4. The flexible shaft module according to claim 1, wherein the bottom of the flexible shaft extension ring is in contact with or assembled with the top of the flexible shaft extension spring, the bottom of the flexible shaft extension spring is attached to or in contact with the second snap ring, the flexible shaft guide cylinder is provided with the second snap ring and the first snap ring at two end faces of the third flexible shaft frame plate, and the second snap ring and the first snap ring are attached to the third flexible shaft frame plate and can be assembled in a circumferential rotation mode.

5. The flexible shaft module according to claim 1, wherein a yielding screw plug is further installed in the yielding sliding hole, a first yielding spring is installed on a portion, located between the yielding screw plug and the yielding sliding ring, of the yielding sliding hole, and the first yielding spring is used for applying elastic force to the yielding sliding ring to prevent the yielding sliding ring from moving towards the yielding screw plug;

7. A saw blade craniotomy device, characterized in that the flexible shaft module of any one of claims 1-6 is applied.

8. The saw blade type craniotomy device according to claim 7, further comprising a connecting frame, wherein a connecting cover is arranged on the connecting frame, a connecting frame bottom plate is arranged at the bottom of the connecting cover, a feed push rod motor and a feed displacement sensor are arranged on the connecting frame bottom plate, a feed telescopic shaft is arranged on the feed push rod motor, one end of the feed telescopic shaft penetrates through the connecting frame bottom plate and then is assembled with a first saw blade frame shell of the saw blade frame, the first saw blade frame shell is further assembled with one end of a feed guide shaft, and the other end of the feed guide shaft penetrates through the connecting frame bottom plate and can be axially assembled with the connecting frame bottom plate in a sliding manner;

9. The saw-blade craniotomy device of claim 8 wherein the cutting power plate is further assembled with one end of a cutting probe shaft of a cutting displacement sensor, the other end of the cutting probe shaft being housed in the cutting displacement sensor, the cutting power plate moving to drive the cutting probe shaft to move synchronously to input signals to the cutting displacement sensor, the cutting displacement sensor inputting signals to the industrial personal computer to determine the cutting length, the cutting displacement sensor being mounted on the lateral displacement frame;

10. The saw blade type craniotomy device as claimed in claim 8 or 9, wherein the saw blade module comprises a saw blade shell and a saw blade, one end of the saw blade shell is assembled with a dust cover, the dust cover is internally provided with the saw blade, the saw blade is sleeved on a saw blade shaft, and the saw blade shaft and the dust cover can be assembled in a circumferential rotation way; the dustproof cover is provided with a through air exhaust port;