A navigation positioning structure for spinal surgery

Abstract

The application relates to a navigation positioning structure for spine surgery and belongs to the medical instrument field. The navigation positioning structure comprises a first component, a second component, a third component, a fourth component and a fifth component; the first component comprises a supporting shaft and a fixing needle; the lower part of the fixing needle is fixed to the surface of a vertebral body spinous process; the second component is a driving component which drives the third component to rotate; the third component is a spherical hinge component; the fourth component is a calibration component which rotates relative to the third component under the driving of a second rotary motor; the fifth component is an operation component which comprises an operation arm and a second sleeve; the operation arm comprises a suspension beam arm, a sliding block and a fixed tube; the sliding block linearly slides along the upper surface of the fourth component under the driving of a second linear motor; the inside of the second sleeve is matched with a surgical instrument. The application can assist doctors in accurately positioning the spine anatomical structure, realize the simultaneous positioning of three vertebral bodies including a fixed segment vertebral body and upper and lower segment vertebral bodies and the navigation of subsequent surgery, and has small volume and high surgery efficiency.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a navigation and positioning structure for spinal surgery. Background Art

[0002] Spinal surgery requires the use of imaging equipment such as C-arms or O-arms to scan and locate the spine. During the operation, the doctor needs to make a rough judgment on the surface location of the patient's spinal anatomical structure based on the intraoperative imaging examination and the results of preoperative imaging examinations. The positioning and operation direction before minimally invasive puncture operations or open surgery internal fixation placement are highly dependent on the doctor's experience, making it difficult to perform precise operations. If the minimally invasive puncture operation or the direction of internal fixation placement in open surgery is not accurately positioned, it is very likely to damage important anatomical structures such as blood vessels and nerves, causing serious consequences. Therefore, spinal surgery operations urgently need navigation positioning structures that can assist doctors in accurately positioning the spinal anatomical structure.

[0003] Spine Assist is a relatively simple robotic device, a parallel manipulator with six degrees of freedom, operating in a semi-active mode. It is used to position and maintain the trajectory of surgical tools during spinal surgery. The device can be connected to the bony structure by attaching a specially designed bridging device to a spinous process clamp, or by attaching a T-shaped hovering minimally invasive stent to the spinous process using Kirschner wires and fixing two fixation pins directly to the posterior superior iliac spine. However, the parallel manipulator design employed in this configuration is overly complex, requiring high dynamic structural performance, requiring complex control algorithms, and resulting in high cost. The six connecting rods within the main motion structure have low locking force, and the direction of the supporting force lines aligns with the direction of motion of the connecting rods, resulting in poor structural stability. Furthermore, the installation process is time-consuming. For patients with severe spinal deformities, the parallel structure limits the range of motion, making it difficult to accurately locate the pedicle screw insertion point. Initially, the system was primarily used for pedicle screw and translaminar screw placement. Consequently, its application requirements are high, its scope is narrow, and it has been difficult to effectively promote.

[0004] The Renaissance is similar in structure to the Spine Assist, a second generation of spinal surgery robot that expands the range of clinical applications available on the basis of the Spine Assist. However, the Mazor Renaissance still faces some challenges similar to its early counterparts, especially the misplacement of implants due to the abrasive effect of the guide cannula. The third generation Mazor X system has a mechanical arm that can move in series rather than in parallel compared to previous versions, thereby increasing the range of motion and work capacity of the system. However, this design increases the workspace required for the mechanical arm, making the operating room space very crowded and affecting the surgical experience. After each spinal positioning, only one vertebral level operation can be achieved, and multiple vertebral segment operations require a large amount of time for layer-by-layer matching, which seriously affects the operation process. In addition, the complex mechanical arm design structure and external positioning workstation make it extremely expensive and cannot be widely applied. SUMMARY

[0005] In view of the deficiencies in the prior art described above, the navigation positioning structure for spinal surgery is fixed to the surface of the spinous process of the vertebral body, the fixing process is simple and convenient to operate, the axial rotation of the navigation positioning structure can realize the simultaneous positioning of the fixed segment vertebral body and the upper and lower segment vertebral body, which greatly shortens the operation time, improves the operation efficiency, reduces the volume of the navigation positioning structure, saves the operation space, and makes the navigation positioning structure more miniaturized. In addition, the navigation positioning structure can be matched with the existing surgical instruments such as pedicle screw placement equipment and intervertebral foramen mirror, thereby expanding the application scenarios of the navigation positioning structure.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] A navigation positioning structure for spinal surgery, the navigation positioning structure comprising a first component, a second component, a third component, a fourth component and a fifth component;

[0008] The first component, the second component, the third component and the fourth component are coaxially connected from bottom to top; the first component comprises a support shaft and a fixing needle, the upper part of the fixing needle is installed in the support shaft, and the lower part is fixed to the surface of the spinous process of the vertebral body; the first component is connected to the second component, the third component and the fourth component in order from bottom to top through the support shaft; the second component is a driving component comprising a first rotary motor, which drives the third component to rotate; the third component is a spherical hinge component; the fourth component is a calibration component connected to the third component through a second rotary motor and rotates relative to the third component under the driving of the second rotary motor;

[0009] The fifth component is an operating component, which is composed of an operating arm connected to a second sleeve; the operating arm includes a cantilever arm, a sliding block and a fixed tube; the sliding block and the fixed tube are respectively installed at the upper and lower ends of the cantilever arm, and the angle between the cantilever arm and the sliding block is 90° to 180°; the sliding block is placed on the upper surface of the fourth component, and the sliding block slides linearly along the upper surface of the fourth component under the drive of the second linear motor on the fourth component; the second sleeve is installed in the fixed tube, and the interior of the second sleeve is matched with the surgical instrument.

[0010] Furthermore, the third component includes a base, a second gear, a second connecting rod, a second connecting block and a top seat; the top seat and the base are respectively located at the upper and lower ends of the third component; the second gear is installed on the base and is connected to the lower end of the second connecting rod, the second gear is meshed with the first gear of the second component, and the first rotating motor drives the third component to rotate through the meshing transmission of the first gear and the second gear; the upper end of the second connecting rod is installed under the top seat through the second connecting block; the second connecting rod is a bow-shaped connecting rod, and multiple second connecting rods are arranged to rotate crosswise around the axis of the third component to form a spherical hinge structure of the third component.

[0011] Furthermore, the second connecting rod is composed of a bow rod and two U-shaped structures, and the two U-shaped structures are respectively connected to two ends of the bow rod; and the U-shaped openings of the two U-shaped structures are respectively facing outwards.

[0012] Furthermore, the second gear is composed of a sector-shaped toothed disc and a first connecting block whose surfaces are perpendicular to each other; the sector-shaped toothed disc is connected to the first bearing on the base; and the first connecting block is connected to the second connecting rod.

[0013] Furthermore, the first component is a spinous process clamp structure.

[0014] Furthermore, the first component also includes a connecting shaft, a first connecting rod, a first rotating shaft, a second rotating shaft, a fixing block, and a fixing nail; the connecting shaft is coaxially connected to the bottom of the support shaft, the bottom end of the connecting shaft is a saddle-shaped surface, and the fixing pin passes through the connecting shaft and deeply into the support shaft; the four first connecting rods are symmetrically arranged in pairs on the left and right sides of the first component, and the two first connecting rods on the same side are arranged in parallel, the upper end of the first connecting rod is connected to the connecting shaft through the first rotating shaft, and the fixing block is placed between the two first connecting rods on the same side and is connected to the first connecting rod through the second rotating shaft; the two side edges of the fixing block are serrated surfaces for contacting with the surface of the vertebral spinous process; the two fixing nails are respectively passed through the center of the fixing block and cross-fixed on the surface of the vertebral spinous process.

[0015] Furthermore, the first connecting rod is an arc-shaped rod.

[0016] Furthermore, the second component also includes a disc-shaped platform and a first gear; a plurality of first gear grooves are evenly distributed in a circular array on the disc-shaped platform, and a plurality of the first rotating motors are evenly distributed in a circular array and installed on the disc-shaped platform and are located on one side of the first gear groove; the rotating shaft of the first rotating motor is connected to the first gear, the lower part of the first gear is placed in the first gear groove, and the first gear is engaged with the third component for transmission.

[0017] Furthermore, the fourth component is composed of a driving disc and a telescopic disc, and the driving disc is arranged below the telescopic disc;

[0018] The driving disk further includes a first fixed disk and a first linear motor; the second rotary motor is mounted on the lower surface of the first fixed disk and is fixedly connected to the third component through a seventeenth fixing hole provided at the center of the top of the third component; the fourth component rotates axially relative to the third component under the drive of the second rotary motor; two first linear motors are symmetrically fixed on the upper surface of the first fixed disk;

[0019] The telescopic disk also includes a second fixed disk, a first sleeve, and a push rod; the two first sleeves are symmetrically installed on both sides of the lower surface of the second fixed disk, respectively sleeved on the first linear motor, and connected to the output shaft of the first linear motor; the second linear motor is installed on the upper surface of the second fixed disk, and the second linear motor is connected to the sliding block of the fifth component through the push rod.

[0020] Furthermore, the fifth component also includes a fixing bolt; a sliding groove is provided inside the sliding block along the axis; a twentieth fixing hole is provided on the surface of the second fixed disk, and the twentieth fixing hole and the second linear motor are located on opposite sides of the center of the second fixed disk; the fixing bolt is inserted into the twentieth fixing hole through the sliding groove to guide the sliding block to move linearly.

[0021] Beneficial effects of the present invention:

[0022] The navigation positioning structure disclosed in the present invention can assist doctors in accurately positioning the spinal anatomical structure. The fixation process is simple, the operation is convenient, and the volume is small, which saves operating space. The axial rotation of the navigation positioning structure can achieve simultaneous positioning of three vertebrae, including the fixed segment vertebrae and the upper and lower segment vertebrae, which greatly shortens the operation time and improves the surgical efficiency. The second sleeve in the fifth component can be matched with existing surgical instruments such as pedicle screw insertion equipment and interlaminar foraminal endoscopes, thereby expanding its applicable scenarios and facilitating the further promotion of the present invention.

[0023] The first component of the present invention adopts a spinous process clamp design, so that the navigation positioning structure is firmly fixed to the vertebral spinous process, can adapt to the axial rotation of the vertebral body at different angles, and can adjust the posture in time to adapt to the requirements of complex anatomical structures such as spinal deformities, solving the problem that the positioning operation of traditional spinal surgical robots for patients with severe axial rotation of the vertebral body such as severe scoliosis is extremely difficult and prone to positioning failure, thereby expanding the scope of application of the present invention; compared with traditional spinal surgical robots that require the operating end mechanical arm to be fixed to the floor of the operating room, the present invention only needs to be fixed on the spinous process, and does not require a large base bracket or other structure fixed to the floor of the operating room. The operation process is simple, greatly reducing the volume of the navigation positioning structure and the operating room space occupied during the operation, so that the navigation positioning structure can be more miniaturized. At the same time, because the navigation positioning structure can perform axial rotation around the vertebra fixed by the spinous process clamp, it helps the navigation positioning structure to simultaneously position the upper and lower segments of the fixed vertebral body, simplifying the operation steps and improving the efficiency of the operation.

[0024] The second component of the present invention serves as a driving component, which is located below the overall structure, can effectively balance the center of gravity of the structure and provide the most accurate power.

[0025] The present invention adopts a spherical hinge design in the third component for the first time, and forms a main motion structure through a plurality of axially cross-arranged bow-shaped second connecting rods, which has a stronger support capacity for the fourth component. The spherical hinge structure of the third component can produce a maximum 360° relative rotation and 90° bending movement between the top seat and the base, with a larger range of motion, and can generate a stable support force for the top seat through the second connecting rod, further improving the strength of the structure. Each hinge in the third component only needs a first rotary motor to drive, which is simple to drive and has low requirements for the power system function and structural strength, which can reduce production costs. Traditional spinal surgical robots mostly adopt a serial manipulator arm structure design, which has high performance requirements for the drive motor and needs to cooperate with the internal self-locking structure of the manipulator arm to maintain the position of the manipulator arm, which makes the internal structure of the manipulator arm complex and expensive, and the internal components are easily damaged and have a short service life. Therefore, the present invention can greatly reduce production costs while ensuring positioning accuracy and range of motion, which is conducive to further promotion.

[0026] The fourth component of the present invention can further adjust the operating range of the navigation and positioning structure to reduce bias in the positioning process.

[0027] The fifth component of the present invention is compatible with commonly used spinal surgical instruments, common orthopedic instruments, etc. through a sleeve, without the need for additional surgical consumables. Compared with traditional spinal surgical robots that require special surgical instruments to complete the operation, and some instruments are disposable consumables, the present invention greatly reduces the cost of surgery, thereby increasing the application range of the navigation and positioning structure. In addition, the present invention can locate the anatomical part of the vertebral body through the fixed tube, and navigate the internal fixation insertion and minimally invasive puncture operation. Moreover, the present invention serves as an auxiliary tool for doctors during use, does not change the doctor's surgical habits, is easy to use, and is easily accepted by users. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the navigation and positioning structure of the present invention for spinal surgery;

[0029] Figure 2 This is a schematic diagram of the first component in the present invention;

[0030] Figure 3 for Figure 2 Schematic diagram of the middle support shaft;

[0031] Figure 4 for Figure 2 Schematic diagram of the middle connecting shaft;

[0032] Figure 5 for Figure 2 Schematic diagram of the first connecting rod;

[0033] Figure 6 for Figure 2 Schematic diagram of the first rotation axis;

[0034] Figure 7 for Figure 2 Schematic diagram of the second rotation axis;

[0035] Figure 8 for Figure 2 Schematic diagram of the fixed block;

[0036] Figure 9 for Figure 2 Schematic diagram of the middle fixing nail;

[0037] Figure 10 for Figure 2 Schematic diagram of the middle fixing needle;

[0038] Figure 11 This is a schematic diagram of the second component in the present invention;

[0039] Figure 12 This is a schematic diagram of the third component in the present invention;

[0040] Figure 13 for Figure 12 Schematic diagram of the middle base;

[0041] Figure 14 For Figure 12 Second gear schematic diagram in the middle;

[0042] Figure 15 For Figure 12 Second connecting rod schematic diagram in the middle;

[0043] Figure 16 For Figure 12 Second connecting block schematic diagram in the middle;

[0044] Figure 17 For Figure 12 Top seat schematic diagram in the middle;

[0045] Figure 18 Schematic diagram of the fourth component in the application;

[0046] Figure 19 For Figure 18 Driving disc schematic diagram in the middle;

[0047] Figure 20 For Figure 18 Telescopic disc schematic diagram in the middle;

[0048] Figure 21 Schematic diagram of the fifth component in the application;

[0049] Figure 22 For Figure 21 Operating arm schematic diagram in the middle;

[0050] Figure 23 For Figure 21 Fixed bolt schematic diagram in the middle;

[0051] Figure 24 For Figure 21 Second sleeve schematic diagram in the middle;

[0052] Figure 25 Schematic diagram of the navigation positioning structure for spinal surgery of the application installed on the vertebral body;

[0053] Figure 26 Schematic diagram of the navigation positioning structure for spinal surgery of the application for multi-segment vertebral positioning operation process.

[0054] Among them: 1. First component; 11. Support shaft; 111. First fixing hole; 12. Connecting shaft; 121. First columnar portion; 122. Support block; 123. Second fixing hole; 124. Third fixing hole; 125. Saddle surface; 13. First connecting rod; 131. Fourth fixing hole; 132. Fifth fixing hole; 14. First rotating shaft; 141. Sixth fixing hole; 15. Second rotating shaft; 151. Washer; 16. Fixing block; 161. Seventh fixing hole; 162. Eighth fixing hole; 163. Serrated surface; 17. Fixing nail; 171. Second Columnar portion; 172, first fixing handle; 173, nail head; 18, fixing needle; 181, cylinder; 182, needle head; 2, second component; 21, disc-shaped platform; 22, first gear; 23, first rotating motor; 24, first gear slot; 25, ninth fixing hole; 3, third component; 31, base; 311, base plate; 312, tenth fixing hole; 313, first bearing; 314, eleventh fixing hole; 315, second gear slot; 32, second gear; 321, sector toothed disc; 322, twelfth fixing hole; 323, first connecting block; 3 24, 13th fixing hole; 33, third rotating shaft; 34, second connecting rod; 341, bow rod; 342, U-shaped structure; 343, 14th fixing hole; 35, second connecting block; 351, 15th fixing hole; 352, 16th fixing hole; 36, top seat; 361, top seat plate; 362, 17th fixing hole; 363, second bearing; 364, 18th fixing hole; 365, third gear slot; 4, fourth component; 41, drive plate; 411, first fixing plate; 412, 19th fixing hole; 413, second rotating motor; 414, First linear motor; 42, telescopic disk; 421, second fixed disk; 422, twentieth fixing hole; 423, first sleeve; 424, second linear motor; 425, push rod; 5, fifth component; 51, operating arm; 511, cantilever arm; 512, sliding block; 513, side hole; 514, sliding groove; 515, fixing tube; 516, twenty-first fixing hole; 52, fixing bolt; 521, third columnar portion; 522, second fixing handle; 53, second sleeve; 531, fourth columnar portion; 532, fixing ring; 533, twenty-second fixing hole. DETAILED DESCRIPTION

[0055] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following embodiments are only used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0056] Terms such as "upper," "lower," "left," "right," "inner," "outer," "front," "back," "head," and "tail" in this application are based on the directions or positions shown in the accompanying drawings. The corresponding positions may vary depending on the drawings, and should not be construed as limiting the scope of protection.

[0057] In the present invention, the terms "installed," "connected," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, integral connection, mechanical connection, electrical connection, or mutual communication. They may be directly connected or indirectly connected through an intermediate medium. They may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0058] This embodiment describes a navigation and positioning structure for spinal surgery. The navigation and positioning structure can achieve overall stability without the need for a ground support structure, thus saving operating space and miniaturizing the overall structure.

[0059] like Figure 1 As shown, the navigation and positioning structure includes a first component 1, a second component 2, a third component 3, a fourth component 4, and a fifth component 5. The first component 1, the second component 2, the third component 3, and the fourth component 4 are coaxially connected from bottom to top, and the second component 2 and the third component 3 are sequentially connected to the first component 1 via an axis. The first component 1 is used to firmly fix the navigation and positioning structure on the spinous process of the vertebral body. It can adapt to axial rotation of the vertebral body at different angles and can adjust the posture in time, which helps the navigation and positioning structure to perform navigation and positioning operations on the upper and lower segments of the fixed vertebral body at the same time.

[0060] The second component 2 is meshed with the third component 3 for transmission, the fourth component 4 is connected to the third component 3, and one end of the fifth component 5 is connected to the fourth component 4. The navigation and positioning structure of this embodiment can be made of metal materials (titanium alloy, cobalt-chromium alloy, medical stainless steel) or polymer materials (silicone resin, polyaryletherketone, polycarbonate polyurethane).

[0061] like Figure 2 As shown, the first component 1 is a spinous process clamp structure, including a support shaft 11, a connecting shaft 12, a first connecting rod 13, a first rotating shaft 14, a second rotating shaft 15, a fixing block 16, a fixing nail 17 and a fixing needle 18.

[0062] like Figure 3As shown, the support shaft 11 of this embodiment is a cylindrical shaft with a first fixing hole 111 extending axially therethrough. This first fixing hole 111 mates with a fixing pin 18, which is positioned within the first fixing hole 111 and secures the first component 1 to the spinous process of the vertebra. The first component 1 is sequentially inserted through the support shaft 11 into the fixing holes coaxial with the first fixing hole 111 in the second and third components 2 and 3, thereby connecting the first, second, and third components 1, in series to form a single unit.

[0063] The connecting shaft 12 is coaxially connected to the lower side of the supporting shaft 11. Figure 4 As shown, the connecting shaft 12 is integrally formed of a first columnar portion 121 and a support block 122, which are coaxially arranged above and below. The connecting shaft 12 is provided with a second fixing hole 123 extending axially therethrough. The second fixing hole 123 is coaxially arranged with the first fixing hole 112, and both accommodate the fixing pin 18. A third fixing hole 124 is provided in the middle of the support block 122, perpendicular to the second fixing hole 123. The bottom end of the support block 122 is formed into a saddle-shaped surface 125, with the axis of the saddle surface 125 parallel to the axis of the third fixing hole 124. The saddle surface 125 is a curved surface structure that increases the contact area with the vertebral spinous process, allowing for a better fit between the two.

[0064] The first component 1 includes four first connecting rods 13, which are symmetrically arranged on the left and right sides of the first component 1, and the two first connecting rods 13 on the same side are arranged in parallel. Figure 5 As shown, the first connecting rod 13 is an arc-shaped rod. In this embodiment, the first connecting rod 13 adopts an arc-shaped rod with a C-shaped structure. The first connecting rod 13 is provided with a fourth fixing hole 131 and a fifth fixing hole 132 at both ends. The first rotating shaft 14 passes through the fourth fixing hole 131 and the third fixing hole 124 to connect the upper end of the first connecting rod 13 to both sides of the support block 122. The second rotating shaft 15 connects the first connecting rod 13 and the fixing block 16 together through the fifth fixing hole 132. In order to make the connection between the two tighter, one or more washers 151 (see FIG. 1 ) can be further provided on the second rotating shaft 15 between the first connecting rod 13 and the fixing block 16. Figure 7 ). The first rotating shaft 14 and the second rotating shaft 15 are both cylindrical shafts. Figure 6 As shown, a sixth fixing hole 141 is provided in the middle of the first rotating shaft 14 coaxially with the first fixing hole 111 and the second fixing hole 123 . The sixth fixing hole 141 is used to accommodate the fixing needle 18 .

[0065] The first component 1 is symmetrically provided with fixing blocks 16 on both sides, and the fixing blocks 16 are placed between the two first connecting rods 13 provided on the same side. Figure 8As shown, the fixing block 16 is a trapezoidal block with a seventh fixing hole 161 extending through its surface on one side of its trapezoidal surface. The second rotating shaft 15 connects the first connecting rod 13 and the fixing block 16 via the fifth fixing hole 132 and the seventh fixing hole 161. An eighth fixing hole 162 extends through the axial center of the fixing block 16, with the axis of the eighth fixing hole 162 being perpendicular to the axis of the seventh fixing hole 161. The eighth fixing hole 162 is coaxially matched with the fixing pin 17, which passes through the eighth fixing hole 162 and is connected to the fixing block 16. The two symmetrical trapezoidal sides of the fixing block 16 are serrated surfaces 163, which have a certain inward curvature to facilitate matching with the surface of the vertebral spinous process.

[0066] The first component 1 is symmetrically provided with fixing pins 17 on the left and right sides. Figure 9 As shown, the fixation pin 17 comprises a coaxially arranged second columnar portion 171, a first fixation handle 172, and a pin head 173. The first fixation handle 172 and the pin head 173 are respectively fixedly disposed at opposite ends of the second columnar portion 171. The fixation pin 17 is passed through the eighth fixation hole 162 of the fixation block 16 to further secure the fixation block 16 to the surface of the vertebral spinous process. The first fixation handle 172 prevents the fixation pin 17 from dislodging from the fixation block 16 and excessively entering the patient's body. The two fixation pins 17 in the first assembly 1 are cross-fixed to the surface of the vertebral spinous process, further enhancing the stability of the navigation positioning structure.

[0067] like Figure 10 As shown, the fixing needle 18 is composed of a cylinder 181 and a needle head 182. The needle head 182 is arranged at the lower end of the cylinder 181. The cylinder 181 is relatively slender. The upper part of the cylinder 181 can be accommodated in the sixth fixing hole 141, the second fixing hole 123, and the first fixing hole 111 from bottom to top.

[0068] The first component 1 can fit tightly with the surface of the vertebral spinous process through the saddle surface 125, the serrated surface 163, the fixing nail 17 and the fixing needle 18, thereby firmly fixing the navigation positioning structure on the vertebral body. At the same time, it can adapt to the axial rotation of the vertebral body at different angles and can adjust the posture in time, which helps the navigation positioning structure to perform navigation positioning operations on the upper and lower segments of the fixed vertebral body at the same time. The two groups of first connecting rods 13 on the left and right sides of the first component 1 can each be opened 90°. The design of the structure of the first component 1 is conducive to reducing the volume of the navigation positioning structure, making the navigation positioning structure more miniaturized, thereby saving operating space.

[0069] The second component 2 is a driving component, which is a driving platform structure. Figure 11As shown, the second component 2 includes a disc-shaped platform 21, a first gear 22, and a first rotary motor 23. Multiple first gear slots 24 are evenly distributed in a circumferential array on the disc-shaped platform 21. This embodiment uses three first gear slots 24 evenly distributed on the disc-shaped platform 21 as an example for illustration. A ninth fixing hole 25 is provided in the center of the disc-shaped platform 21. The inner diameter of the ninth fixing hole 25 matches the outer diameter of the support shaft 11 of the first component 1. The support shaft 11 passes through the ninth fixing hole 25 and is inserted into the third component 3. Three first rotary motors 23 are mounted in a circular array around the ninth fixing hole 25 on the disc-shaped platform 21, located on either side of the first gear slot 24. The three first gears 22 are respectively fixed to the rotating shafts of the first rotary motors 23. The lower portions of the first gears 22 are positioned within the first gear slots 24 and mesh with the second gears 32 in the third component 3, providing power for the spherical hinge motion of the third component 3 and supporting it. In this embodiment, the second component 2 is arranged at the lower part of the navigation and positioning structure, which can effectively balance the center of gravity of the navigation and positioning structure and provide the most accurate power.

[0070] The third component 3 is a spherical hinge component, which is the core component of the operation of this navigation and positioning structure. Figure 12 As shown, the third component 3 includes a base 31, a second gear 32, a third rotating shaft 33, a second connecting rod 34, a second connecting block 35, and a top seat 36. The top seat 36 and the base 31 are respectively located at the upper and lower ends of the third component 3. The second gear 32 is mounted on the base 31 via the third rotating shaft 33 and is connected to the lower end of the second connecting rod 34. The upper end of the second connecting rod 34 is connected to the second connecting block 35 via the third rotating shaft 33. The second connecting block 35 is mounted below the top seat 36.

[0071] Specifically, the base 31 is as follows Figure 13 The structure shown is composed of a base plate 311 and three first bearings 313. A tenth fixing hole 312 is provided in the center of the base plate 311. The support shaft 11 of the first component 1 is inserted into the tenth fixing hole 312 to connect the third component 3 with the first component 1. The three first bearings 313 are evenly distributed on the base plate 311 in a circular array around the tenth fixing hole 312. An eleventh fixing hole 314 is provided on the upper portion of the first bearing 313. The third rotating shaft 33 passes through the eleventh fixing hole 314 to install the second gear 32 and the second connecting rod 34. The first bearing 313 is composed of two inner and outer bearings. A second gear groove 315 is opened on the base plate 311 between the inner and outer bearings. The second gear 32 is installed between the inner and outer bearings, and the lower portion of the second gear 32 passes through the second gear groove 315 to engage with the first gear 22 for transmission.

[0072] The second gear 32 is as Figure 14As shown, the first connecting block 323 is composed of a sector gear 321 and a surface perpendicular to the sector gear 321. The sector gear 321 has a twelfth fixed hole 322 at the center, and the third rotating shaft 33 passes through the eleventh fixed hole 314 and the twelfth fixed hole 322 to install the second gear 32 on the first bearing 313. The end of the first connecting block 323 has a thirteenth fixed hole 324 perpendicular to the axis of the twelfth fixed hole 322, and the third rotating shaft 33 passes through the thirteenth fixed hole 324 to connect the second gear 32 and the second connecting rod 34.

[0073] The second connecting rod 34 is an arc-shaped connecting rod, and three second connecting rods 34 are arranged in a cross-rotating manner around the third assembly 3 to form a spherical hinge structure of the third assembly 3. As shown, Figure 15 As shown, the second connecting rod 34 is composed of an arc-shaped rod 341 and two U-shaped structures 342. The middle part of the arc-shaped rod 341 is at an angle of 90°-180° with the two ends. The two U-shaped structures 342 are connected to the two ends of the arc-shaped rod 341, respectively, and the U-shaped openings of the two U-shaped structures 342 face outward, respectively. The fourteenth fixed hole 343 is coaxially arranged on the two U-shaped walls of the U-shaped structure 342. The upper U-shaped structure 342 of the second connecting rod 34 is connected to the second connecting block 35 through the third rotating shaft 33, and the lower U-shaped structure 342 is connected to the second gear 32 through the third rotating shaft 33.

[0074] As shown, Figure 16 The second connecting block 35 of the present embodiment adopts a P-shaped block, and the fifteenth fixed hole 351 and the sixteenth fixed hole 352 are arranged on the surfaces perpendicular to each other at the two ends of the P-shaped block, respectively. The third rotating shaft 33 connects the second connecting rod 34 and the second connecting block 35 through the fourteenth fixed hole 343 and the fifteenth fixed hole 351. The third rotating shaft 33 connects the second connecting block 35 and the top seat 36 through the sixteenth fixed hole 352 and the eighteenth fixed hole 364 of the top seat 36.

[0075] As shown, Figure 17As shown, the top seat 36 is composed of a top seat disc 361 and three second bearings 363. The top seat disc 361 has a seventeenth fixing hole 362 at its center, and the first linear motor 414 in the fourth component 4 extends into the third component 3 through the seventeenth fixing hole 362. The three second bearings 363 are arranged in a circular array around the seventeenth fixing hole 362 and are mounted on the lower surface of the top seat disc 361. The second bearing 363 has a similar structure to the first bearing 313 and will not be described in detail here. The second bearing 363 is provided with an eighteenth fixing hole 364 that matches the sixteenth fixing hole 352 on the second connecting block 35. The third rotating shaft 33 is connected to the second connecting block 35 and the second bearing 363 through the eighteenth fixing hole 364 and the sixteenth fixing hole 352. A third gear groove 365 is provided on the top seat disc 361 in the middle of the second bearing 363 for accommodating the second connecting block 35 together with the second bearing 363.

[0076] The spherical hinge structure of the third component 3 of this embodiment can enable a maximum 360° relative rotation and 90° bending movement between the top seat 36 and the base 31, and can generate a stable supporting force for the top seat 36 through the second connecting rod 34, further improving the strength of the structure. The bow-shaped design of the second connecting rod 34 can reduce the overall structural requirements for the comprehensive performance of the driving structure of the second component 2, thereby reducing production costs.

[0077] The fourth component 4 is a calibration component that can further correct the deviation of the third component 3 during operation. Figure 18 As shown, the fourth component 4 is composed of a driving disc 41 and a telescopic disc 42. The driving disc 41 is arranged below the telescopic disc 42.

[0078] like Figure 19 As shown, the drive disk 41 includes a first fixed disk 411, a second rotary motor 413, and a first linear motor 414. A nineteenth fixing hole 412 is provided in the center of the first fixed disk 411, coaxially matching the seventeenth fixing hole 362 on the top seat 36. The second rotary motor 413 is mounted on the lower surface of the first fixed disk 411, and the second rotary motor 413 is coaxially arranged with the nineteenth fixing hole 412. The second rotary motor 413 is fixedly connected to the third component 3 via the seventeenth fixing hole 362. When the second rotary motor 413 rotates, it drives the fourth component 4 to rotate axially relative to the third component 3. The fourth component 4 can rotate axially 360°, achieving the maximum range of posture adjustment. The design of the nineteenth fixing hole 412 in the fourth component 4 facilitates the installation of the second rotary motor 413 while also facilitating heat dissipation from the second rotary motor 413. Two first linear motors 414 are symmetrically fixed on the upper surface of the first fixed plate 411 on both sides of the nineteenth fixing hole 412. The first linear motor 414 cooperates with the first sleeve 423 on the telescopic plate 42 to realize the overall lifting and lowering of the fifth component 5 connected to the telescopic plate 42, thereby further adjusting the operating range of the navigation and positioning structure.

[0079] like Figure 20 As shown, the telescopic disc 42 includes a second fixed disc 421, a first sleeve 423, a second linear motor 424, and a push rod 425. The second fixed disc 421 has a 20th fixing hole 422 on its surface. Inserting the fixing bolt 52 of the fifth component 5 into this 20th fixing hole 422 constrains the linear motion of the sliding block 512 of the fifth component 5, preventing deviation. Two first sleeves 423 are symmetrically mounted on either side of the lower surface of the second fixed disc 421, one each enclosing the first linear motor 414 and connected to the output shaft of the first linear motor 414. Driven by the first linear motor 414, the first sleeves 423 drive the telescopic disc 42 to achieve lifting and lowering motion. A second linear motor 424 is mounted on the upper surface of the second fixed disk 421 on the opposite side of the twentieth fixing hole 422, with the center of the second fixed disk 421 as the center. The second linear motor 424 is connected to a push rod 425, which extends toward the twentieth fixing hole 422, with the axis of the push rod 425 parallel to the line connecting the center of the twentieth fixing hole 422 and the center of the second fixed disk 421. The second linear motor 424 is connected to the sliding block 512 of the fifth component 5 via the push rod 425. Driven by the second linear motor 424, the push rod 425 pushes and pulls the sliding block 512 along a linear motion on the upper surface of the second fixed disk 421, thereby expanding the extension range of the fifth component 5. The fourth component 4 of this embodiment achieves the overall tilting of the telescopic disk 42 and the fifth component 5 by raising and lowering the two first linear motors 414 to different extension ranges, thereby further fine-tuning the positioning operation of the navigation and positioning structure.

[0080] The fifth component 5 is an operating component, such as Figure 21 As shown, the fifth component 5 includes an operating arm 51, a fixing bolt 52 and a second sleeve 53. The upper end of the operating arm 51 is connected to the second fixing plate 421 of the telescopic plate 42 through the fixing bolt 52, and the second sleeve 53 is installed at the lower end of the operating arm 51.

[0081] like Figure 22As shown, the operating arm 51 includes a cantilever arm 511, a sliding block 512 and a fixed tube 515. The cantilever arm 511 is a rod-shaped structure, and the upper end is connected to one side of the lower surface of the sliding block 512, and there is an angle of 90° to 180° between the cantilever arm 511 and the sliding block 512. The lower end of the cantilever arm 511 is connected to the middle of the fixed tube 515. The sliding block 512 is a rectangular parallelepiped structure, and has a side hole 513 in the center of one side end farther away from the cantilever arm 511. The push rod 425 is connected to the sliding block 512 through the side hole 513, and the push rod 425 provides power to the sliding block 512, further limiting the linear motion of the sliding block 512 and reducing the deviation during the linear motion. A sliding groove 514 is provided along the axis inside the sliding block 512. Preferably, the sliding groove 514 is a long strip groove. The fixing bolt 52 passes through the sliding slot 514 and is inserted into the 20th fixing hole 422 of the second fixing plate 421. The fixing bolt 52 then guides the linear movement of the sliding block 512. The fixing tube 515 has a 21st fixing hole 516 extending axially therethrough. The second sleeve 53 is mounted on the fixing tube 515 through the 21st fixing hole 516. The fixing tube 515 can locate the anatomical part of the vertebral body and provide navigation for internal fixation placement and minimally invasive puncture procedures.

[0082] The fixing bolt 52 in this embodiment is as shown in FIG. Figure 23 As shown, the third columnar portion 521 and the second fixing handle 522 are composed, and the outer diameter of the third columnar portion 521 is smaller than the outer diameter of the second fixing handle 522. After the fixing bolt 52 is inserted into the twentieth fixing hole 422, the second fixing handle 522 is placed above the sliding block 512. Figure 24 The second sleeve 53 is shown as consisting of a fourth columnar portion 531 and a fixing ring 532. The outer diameter of the fourth columnar portion 531 is smaller than that of the fixing ring 532. The fixing ring 532 can secure the second sleeve 53 to the fixing tube 515. The second sleeve 53 is provided with a 22nd fixing hole 533 extending axially therethrough. The interior of the 22nd fixing hole 533 is compatible with conventional spinal surgical instruments, conventional orthopedic instruments, and other surgical instruments, further expanding the application range of the navigation and positioning structure.

[0083] After the navigation and positioning structure of this embodiment is assembled, Figure 25 As shown, the two groups of first connecting rods 13 of the first component 1 are opened to appropriate angles according to the shape of the vertebral spinous process, so that the saddle surface 125 and the serrated surface 163 are in close contact with the surface of the vertebral spinous process, and the navigation positioning structure is fixed to the surface of the vertebral spinous process by fixing nails 17 and fixing needles 18, so that the navigation positioning structure can achieve overall stability without the need for a ground support structure, saving operating space, miniaturizing the overall structure, and enabling the navigation positioning structure to adapt to different vertebral rotation scenarios, so that it can cope with complex spinal surgeries such as spinal deformity correction.

[0084] The navigation and positioning structure of this embodiment is as follows Figure 26 As shown, the meshing transmission between the second component 2 and the third component 3 drives the third component 3 to rotate. The fourth component 4 is fine-tuned relative to the third component 3 by the second rotary motor 413 according to the position of the third component 3. The first linear motor 414 then adjusts the tilt angle of the telescopic disk 42 and the fifth component 5 to achieve fine-tuning of the positioning operation of the navigation positioning structure. The fifth component 5 is driven by the second linear motor 424 to adjust the surgical operation space. The navigation positioning structure, in cooperation with the second component 2, the third component 3, the fourth component 4, and the fifth component 5, can axially rotate around the vertebra fixed by the first component 1, thereby achieving the fixation of the vertebra after installation. The axial rotation of the fourth component 4 combined with the flexion and extension movement of the other components can complete the operation of the vertebral body and the upper and lower vertebral bodies, a total of three vertebral segments, thereby simplifying the operation steps and improving surgical efficiency.

[0085] Although the principles of the present invention have been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely illustrative of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple substitutions based on the technical solution of the present invention fall within the scope of protection of the present invention.

Claims

1. A navigation and positioning structure for spinal surgery, characterized in that: The navigation and positioning structure comprises a first component (1), a second component (2), a third component (3), a fourth component (4) and a fifth component (5); The first component (1), the second component (2), the third component (3) and the fourth component (4) are coaxially connected from bottom to top; the first component (1) includes a support shaft (11) and a fixing needle (18), the upper part of the fixing needle (18) is installed in the support shaft (11), and the lower part is fixed to the surface of the vertebral spinous process; the first component (1) is connected to the second component (2) and the third component (3) in sequence from bottom to top through the support shaft (11); the second component (2) is a driving component, including a first rotating motor (23), which drives the third component (3) to rotate through the first rotating motor (23); the third component (3) is a spherical hinge component; the third component (3) includes a base (31), a second gear (32), a second connecting rod (34), a second connecting block (35) and a top seat (36); the top seat (36) and the base (31) are respectively located on the third component (3 ) upper and lower ends; the second gear (32) is installed on the base (31) and is connected to the lower end of the second connecting rod (34), the second gear (32) is meshed with the first gear (22) of the second component (2), and the first rotating motor (23) drives the third component (3) to rotate through the meshing transmission of the first gear (22) and the second gear (32); the upper end of the second connecting rod (34) is installed below the top seat (36) through the second connecting block (35); the second connecting rod (34) is a bow-shaped connecting rod, and a plurality of second connecting rods (34) are arranged crosswise and rotated around the axis of the third component (3) to form a spherical hinge structure of the third component (3); the fourth component (4) is a calibration component, which is connected to the third component (3) through the second rotating motor (413) and rotates relative to the third component (3) under the drive of the second rotating motor (413); The fifth component (5) is an operating component, which is composed of an operating arm (51) and a second sleeve (53) connected together; the operating arm (51) includes a cantilever arm (511), a sliding block (512) and a fixed tube (515); the sliding block (512) and the fixed tube (515) are respectively installed at the upper and lower ends of the cantilever arm (511), and the angle between the cantilever arm (511) and the sliding block (512) is 90° to 180°; the sliding block (512) is placed on the upper surface of the fourth component (4), and the sliding block (512) slides linearly along the upper surface of the fourth component (4) under the drive of the second linear motor (424) on the fourth component (4); the second sleeve (53) is installed in the fixed tube (515), and the interior of the second sleeve (53) is matched with the surgical instrument.

2. The navigation and positioning structure for spinal surgery according to claim 1, characterized in that: The second connecting rod (34) is composed of a bow rod (341) and two U-shaped structures (342), wherein the two U-shaped structures (342) are respectively connected to the two ends of the bow rod (341); and the U-shaped openings of the two U-shaped structures (342) are respectively facing outwards.

3. The navigation and positioning structure for spinal surgery according to claim 1, characterized in that: The second gear (32) is composed of a sector-shaped toothed disc (321) and a first connecting block (323) whose surfaces are perpendicular to each other; the sector-shaped toothed disc (321) is connected to the first bearing (313) on the base (31); and the first connecting block (323) is connected to the second connecting rod (34).

4. The navigation and positioning structure for spinal surgery according to claim 1, characterized in that: The first component (1) is a spinous process clamp structure.

5. The navigation and positioning structure for spinal surgery according to claim 1, characterized in that: The first component (1) further comprises a connecting shaft (12), a first connecting rod (13), a first rotating shaft (14), a second rotating shaft (15), a fixing block (16), and a fixing pin (17); the connecting shaft (12) is coaxially connected to the lower side of the support shaft (11); the bottom end of the connecting shaft (12) is a saddle-shaped surface (125); the fixing pin (18) passes through the connecting shaft (12) and penetrates into the support shaft (11); the four first connecting rods (13) are symmetrically arranged on the left and right sides of the first component (1), and the two on the same side are The first connecting rods (13) are arranged in parallel, and the upper ends of the first connecting rods (13) are connected to the connecting shaft (12) through the first rotating shaft (14); the fixing block (16) is placed between the two first connecting rods (13) on the same side, and is connected to the first connecting rod (13) through the second rotating shaft (15); the two side edges of the fixing block (16) are serrated surfaces (163) for contacting with the surface of the vertebral spinous process; the two fixing nails (17) are respectively passed through the center of the fixing block (16) and cross-fixed on the surface of the vertebral spinous process.

6. The navigation and positioning structure for spinal surgery according to claim 5, characterized in that: The first connecting rod (13) is an arc-shaped rod.

7. The navigation and positioning structure for spinal surgery according to claim 1, characterized in that: The second component (2) further comprises a disc-shaped platform (21) and a first gear (22); a plurality of first gear slots (24) are evenly distributed in a circumferential array on the disc-shaped platform (21); a plurality of first rotary motors (23) are evenly distributed in a circumferential array on the disc-shaped platform (21) and are located on one side of the first gear slot (24); a rotating shaft of the first rotary motor (23) is connected to the first gear (22), a lower portion of the first gear (22) is placed in the first gear slot (24), and the first gear (22) is meshed with the third component (3) for transmission.

8. The navigation and positioning structure for spinal surgery according to claim 1, characterized in that: The fourth component (4) is composed of a driving disc (41) and a telescopic disc (42), wherein the driving disc (41) is arranged below the telescopic disc (42); The driving disk (41) further includes a first fixed disk (411) and a first linear motor (414); the second rotating motor (413) is mounted on the lower surface of the first fixed disk (411) and is fixedly connected to the third component (3) through a seventeenth fixing hole (362) provided at the top center of the third component (3); the fourth component (4) is driven by the second rotating motor (413) to rotate axially relative to the third component (3); the two first linear motors (414) are symmetrically fixed on the upper surface of the first fixed disk (411); The telescopic disk (42) further includes a second fixed disk (421), a first sleeve (423), and a push rod (425); the two first sleeves (423) are symmetrically mounted on both sides of the lower surface of the second fixed disk (421), are respectively sleeved on the first linear motor (414), and are connected to the output shaft of the first linear motor (414); the second linear motor (424) is mounted on the upper surface of the second fixed disk (421), and is connected to the sliding block (512) of the fifth component (5) through the push rod (425).

9. The navigation and positioning structure for spinal surgery according to claim 8, characterized in that: The fifth component (5) also includes a fixing bolt (52); a sliding groove (514) is provided inside the sliding block (512) along the axis; a twentieth fixing hole (422) is provided on the surface of the second fixed disk (421), and the twentieth fixing hole (422) and the second linear motor (424) are respectively arranged on opposite sides of the center of the second fixed disk (421); the fixing bolt (52) is inserted into the twentieth fixing hole (422) through the sliding groove (514), guiding the sliding block (512) to move linearly.

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