Intelligent nail insertion system for cruciate ligament reconstruction

Abstract

The present invention relates to an intelligent nailing system for cruciate ligament reconstruction, belonging to the technical field of medical devices, including screws, nailing drive mechanisms, locking and clamping mechanisms, depth measuring mechanisms and intelligent control systems, wherein the nailing drive mechanisms include a multi-degree-of-freedom mobile seat, a telescopic pole fixed on the multi-degree-of-freedom mobile seat, and a rotating motor fixed on the telescopic end of the telescopic pole, and a rotating twisting rod movably arranged on the main shaft of the rotating motor, the locking and clamping mechanisms include an outer driving sleeve, an inner sliding sleeve and a clamping sheet, the depth measuring mechanism includes a depth nail pre-nailed into the joint cavity and a high-definition camera, the tail of the depth nail is provided with a length scale, and the intelligent control system includes a PLC controller, a display, a Bluetooth transmitter and a Bluetooth receiver. The present invention realizes the mechanization, automation, digitization and intelligence of the nailing process, liberates manpower and material resources, and improves the quality and efficiency of surgery.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to an intelligent nail insertion system for cruciate ligament reconstruction. Background Art

[0002] During arthroscopic minimally invasive cruciate ligament reconstruction, screws that fix the ligaments on the femoral or tibial side are fixed with a screwdriver. However, most of the current screwdrivers are still manually operated. On the one hand, manual operation increases the risk of slipping and easily damages the internal tissues of the joint cavity. On the other hand, manual operation estimates the depth of the screw by the number of rotations. This operation method requires both recording the number of rotations and performing rotation operations, which is very troublesome. However, even if the number of rotations is accurately recorded, due to various defects in human tissues and slippage during operation, one rotation does not necessarily mean that the corresponding depth has actually been screwed in. Therefore, the depth of the screw cannot be accurately grasped, and the predetermined goal of the operation cannot be achieved.

[0003] In view of the above problems, it is necessary to improve the existing technology and propose a nail insertion system that can be intelligently inserted, so that the operator can operate with ease and efficiency, and the system is stable and reliable and will not slip out easily, which is of great help in improving the quality and safety of surgery. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose an intelligent nail insertion system for cruciate ligament reconstruction, which can intelligently perform nail insertion operations and accurately detect the nail insertion depth, so as to solve the problems of the prior art being time-consuming, labor-intensive, low in safety and inaccurate nail insertion depth.

[0005] The present invention is achieved through the following technical solutions:

[0006] The intelligent nail insertion system for cruciate ligament reconstruction includes a screw, a nail insertion driving mechanism, a locking mechanism, a depth measurement mechanism and an intelligent control system.

[0007] The nail driving mechanism includes a multi-degree-of-freedom mobile seat, a telescopic pole fixed on the multi-degree-of-freedom mobile seat, and a rotating motor fixed on the telescopic end of the telescopic pole, and a rotating twisting rod movably arranged on the main shaft of the rotating motor. The main shaft of the rotating motor is provided with a plug-in seat, and the plug-in seat is provided with a quick-connect hole. One end of the rotating twisting rod is inserted into the quick-connect hole to realize the driving connection, and the other end of the rotating twisting rod is plug-connected with the inner hole of the screw to form a driven connection. An annular cavity is arranged in the rotating twisting rod, and the annular cavity is provided with a plurality of long strip grooves penetrating along the axial direction in the circumferential direction.

[0008] The locking mechanism comprises an outer drive sleeve, an inner sliding sleeve and a locking piece, wherein the outer drive sleeve is sleeved on the rotating screw rod, the inner sliding sleeve slides in the annular inner cavity, the outer drive sleeve and the inner sliding sleeve are fixedly connected by a plurality of connecting screws passing through the long slots, a plurality of locking pieces are provided, and they are evenly arranged on the same circumference in the annular cavity, and a through hole for the locking piece to extend out of the rotating screw rod is provided at a position corresponding to the rotating screw rod, a driving arm is provided at the tail of any locking piece, a driving cone is provided at the end of the inner sliding sleeve, which contacts the driving arm and drives the locking piece to extend, and a matching cone matching the driving cone is provided on the driving arm,

[0009] The depth measurement mechanism includes a depth nail that is pre-inserted into the joint cavity and a high-definition camera. The tail of the depth nail is provided with a length scale. The depth nail passes through the screw and the rotating screw rod in sequence and extends from the rotating screw rod. The high-definition camera is provided on the end surface of the extended end of the rotating screw rod to read the scale position of the rotating screw rod corresponding to the depth nail.

[0010] The intelligent control system includes a PLC controller, a display, a Bluetooth transmitter, and a Bluetooth receiver. The Bluetooth transmitter is electrically connected to a high-definition camera, the Bluetooth receiver is wirelessly connected to the Bluetooth transmitter, the Bluetooth receiver is electrically connected to the PLC controller and the display, and the PLC controller is electrically connected to a multi-degree-of-freedom mobile seat, a telescopic pole, and a rotating motor.

[0011] Furthermore, the multi-degree-of-freedom mobile seat is a manipulator or a robotic arm with six degrees of freedom.

[0012] Furthermore, the locking and engaging mechanism further comprises an outer clamping sleeve, the outer clamping sleeve is threadedly matched with the plug-in seat, a pulling rod is arranged on the outer driving sleeve, and a clamping groove for clamping and fixing the pulling rod is arranged on the outer clamping sleeve.

[0013] Furthermore, the plug-in seat includes a stepped shaft, a depth nail through hole is provided in the center of the stepped shaft, a screw through hole is provided at the large end of the stepped shaft for connecting to a rotating motor, the small end of the stepped shaft is rotatably connected to a connecting sleeve, the connecting sleeve is provided with an external thread, the external clamping sleeve is provided with an internal thread matching the external thread, and the depth nail through hole at the small end of the stepped shaft is expanded into a quick-connect hole connected to a rotating twisting rod.

[0014] Furthermore, a rolling bearing is arranged between the connecting sleeve and the step shaft.

[0015] Furthermore, the outer clamping sleeve is at least partially made of elastic material.

[0016] Furthermore, 2 to 4 pulling rods are provided.

[0017] The beneficial effects of the present invention are:

[0018] The present invention performs screw driving operation through a driving mechanism, and the rotating driving rod can be always locked in the clamping groove inside the screw through the locking clamping mechanism, and the driving depth can be accurately monitored in real time through the depth measuring mechanism. The whole driving process can be controlled in real time through the intelligent control system, and finally the set depth can be reached, thereby realizing the mechanization, automation, digitization and intelligence of the driving process, significantly improving the quality and efficiency of the operation, liberating manpower, and solving the problems of the prior art that the prior art is time-consuming, labor-intensive, low in safety and inaccurate driving depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the present invention;

[0020] Figure 2 It is the front view of the rotating twisting rod;

[0021] Figure 3 It is a partial cross-sectional view of the rotating twisting rod;

[0022] Figure 4 for Figure 3 Schematic diagram when in locked state;

[0023] Figure 5 for Figure 3 A local enlarged view at point A;

[0024] Figure 6 is a cross-sectional view of the plug-in seat;

[0025] Figure 7 A bottom view of the plug-in socket;

[0026] Figure 8 is a cross-sectional view of the screw;

[0027] Fig. 9 It is a schematic diagram of the clamping state of the screw and the clamping piece;

[0028] Fig.10 Schematic diagram of the outer clamping sleeve.

[0029] Description of reference numerals:

[0030] 1-screw; 2-nail driving mechanism; 3-locking mechanism; 4-depth measuring mechanism; 5-intelligent control system; 6-multi-freedom moving seat; 7-telescopic pole; 8-rotating motor; 9-rotating screw rod; 10-plug-in seat; 11-depth nail; 12-high-definition camera; 13-length scale; 14-depth nail through hole; 15-screw through hole; 16-connecting sleeve; 17-rolling bearing; 18-annular cavity; 19-long groove; 20- Outer driving sleeve; 21-inner sliding sleeve; 22-clamping piece; 23-connecting screw; 24-driving arm; 25-driving cone; 26-matching cone; 27-metal head; 28-elastic rod; 29-cage; 30-reset spring; 31-outer clamping sleeve; 32-pull rod; 33-clamping slot; 34-guide sleeve; 35-PLC controller; 36-display; 37-Bluetooth transmitter; 38-Bluetooth receiver; 39-anti-shoulder; 40-quick-connect hole. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the above description of the present invention, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0036] like Figure 1-10 As shown, an embodiment of the present invention provides: a cruciate ligament reconstruction intelligent nail insertion system, comprising a screw 1, a nail insertion drive mechanism 2, a locking and engaging mechanism 3, a depth measurement mechanism 4 and an intelligent control system 5.

[0037] The nail insertion drive mechanism includes a multi-degree-of-freedom mobile seat 6, a telescopic pole 7 that is detachably fixed on the multi-degree-of-freedom mobile seat, and a rotating motor 8 that is detachably fixed on the telescopic end of the telescopic pole, and a rotating twisting rod 9 that is movably arranged on the main shaft of the rotating motor. A plug-in seat 10 is arranged on the main shaft of the rotating motor, and a quick-connect hole 40 is arranged on the plug-in seat. One end of the rotating twisting rod is inserted into the quick-connect hole to realize the driving connection, and the other end of the rotating twisting rod is plug-connected with the inner hole of the screw to form a driven connection. The multi-degree-of-freedom mobile seat of this embodiment is a manipulator or a mechanical arm with six degrees of freedom. When the patient undergoes cruciate ligament reconstruction, the corresponding nail insertion angle can be adjusted to increase the adaptability to the operation site. The telescopic pole of this embodiment is vertically arranged, and can be lifted and lowered in the vertical direction, thereby adjusting the height position of the rotating twisting rod and the joint cavity. The rotating motor provides a rotational torque, thereby causing the rotating twisting rod to rotate, and the rotating twisting rod is inserted into the screw hole, thereby driving the screw to rotate and screw into the joint cavity tissue.

[0038] The depth measurement mechanism includes a depth nail 11 that is pre-nailed into the joint cavity, and a high-definition camera 12 that is arranged on a rotating screw rod. A length scale 13 is arranged at the tail of the depth nail. The depth nail passes through the screw and the rotating screw rod in sequence, and extends from the rotating screw rod. The high-definition camera is arranged on the end face of the extended end of the rotating screw rod to read the scale position of the depth nail corresponding to the rotating screw rod. When measuring the nail insertion depth, the rotating screw rod enters the screw hole under the action of the telescopic pole. After it is in place, the length value of the depth nail is read, which is the initial value. When the screw is continuously screwed into the joint cavity under the action of the rotating motor, the entire nail insertion drive mechanism is followed by the multi-degree-of-freedom moving seat and descends. At this time, the high-definition camera continuously reads the scale value, and subtracts the initial value from the number, which is the screw insertion depth value. This value is the actual downward amount of the screw, so it is very accurate.

[0039] The plug-in seat of this embodiment includes a stepped shaft, a depth nail through hole 14 is provided at the center of the stepped shaft, a screw through hole 15 for connecting with a rotating motor is provided at the large end of the stepped shaft, a connecting sleeve 16 is rotatably connected at the small end of the stepped shaft, an external thread is provided on the connecting sleeve, and an internal thread matching the external thread is provided at the external clamping sleeve, and the depth nail through hole at the small end of the stepped shaft is expanded into a quick-connect hole connected with the rotating twisting rod. Usually, the quick-connect hole is a hexagonal hole, and the connecting end of the rotating twisting rod is a hexagonal hole, so as to facilitate quick connection.

[0040] When in use, a screw or a bolt is screwed into the lower end of the plug-in seat through the screw hole to fix the plug-in seat on the main shaft of the rotating motor to realize torque transmission, and the outer part of the connecting sleeve and the inner surface of the outer clamping sleeve are connected by threads to realize a detachable connection, and a rolling bearing 17 is arranged between the connecting sleeve and the step shaft, so that the connecting sleeve and the plug-in seat can rotate relative to each other, avoiding the torque of the rotating motor from being transmitted to the connecting sleeve. In this way, the connecting sleeve can only accept the downward load and transmit the clamping force, but does not transmit the rotational load, avoiding the influence of the rotating motor on the locking and engaging mechanism.

[0041] An annular cavity 18 is provided in the rotating twisting rod of the present embodiment. The annular cavity is provided with a plurality of long grooves 19 penetrating along the axial direction in the circumferential direction. The inner cavity can be seen through the long grooves. The locking and engaging mechanism comprises an outer driving sleeve 20, an inner sliding sleeve 21 and an engaging piece 22. The outer driving sleeve is fitted on the rotating twisting rod and is located on the area of ​​the long grooves. The inner sliding sleeve slides in the annular inner cavity. The outer driving sleeve and the inner sliding sleeve are fixed by connecting screws 23. The number of connecting screws is consistent with the number of long grooves, that is, there are as many connecting screws as there are long grooves, so that multiple fixations are achieved, so that the force is evenly distributed when the inner sliding sleeve is pulled downward. In this embodiment, multiple locking pieces are provided, and are evenly arranged on the circumference of the same cross-section in the annular cavity, and a through hole is provided at the position corresponding to the rotating screwing rod, so that the head of the locking piece can extend out of the rotating screwing rod, and a driving arm 24 is provided at the tail of any locking piece, and a driving cone 25 is provided at the end of the inner sliding sleeve for contacting with the driving arm to drive the locking piece to extend, and a matching cone 26 matching with the driving cone is provided on the driving arm. When the inner sliding sleeve slides down under the action of the outer driving sleeve, the driving cone acts on the matching cone of the driving arm, so that the locking piece extends from the inside to the outside, and its head can extend out of the driving rod and engage in the inner hole of the screw.

[0042] In particular, the locking piece in this embodiment includes a metal head 27 and an elastic rod 28 bonded and fixed to the metal head. The metal head can be various ferrous metals, and the elastic rod can be a polyester rod, so that it has a certain rigidity and a certain elasticity. It can be elastically deformed under the action of external force, but it will not easily fall off from the inner hole of the screw.

[0043] The screw is set as a hexagonal hole. A better solution is to set a slot 29 for engaging and fixing with the locking piece at the bottom of the hexagonal hole. By engaging and fixing the slot with the locking piece, it is difficult to generate radial load under the action of external force, thus further improving the effect of preventing separation.

[0044] In this embodiment, a return spring 30 is provided between the engaging piece and the driving arm. After use, the engaging piece can be retracted under the restoring force of the return spring, thereby facilitating the driving rod to withdraw from the screw hole.

[0045] In this embodiment, the locking mechanism also includes an external clamping sleeve 31, which is threadedly matched with the connecting sleeve of the plug-in seat. A pulling rod 32 is provided on the external driving sleeve, and a clamping groove 33 for clamping and fixing with the pulling rod is provided on the external clamping sleeve.

[0046] In this embodiment, a locking piece guide sleeve 34 is provided at the through hole, and the moving track of the locking piece can be limited by the guide sleeve, so as to ensure the moving direction and extension amount of the locking piece to be uniform in all directions.

[0047] The intelligent control system of this embodiment includes a PLC controller 35, a display 36, a Bluetooth transmitter 37, and a Bluetooth receiver 38. The Bluetooth transmitter is electrically connected to the high-definition camera, the Bluetooth receiver is wirelessly connected to the Bluetooth transmitter, the Bluetooth receiver is electrically connected to the PLC controller and the display, and the PLC controller is electrically connected to the multi-degree-of-freedom mobile seat, the telescopic pole and the rotating motor.

[0048] Before use, write the control program into the PLC controller. When using, first enter the depth value to be nailed, and then perform the following operations:

[0049] Start the telescopic pole, drive the rotating twisting rod downward to insert into the inner hole of the screw, and the pulling rod is engaged in the engagement groove, and the telescopic pole is stopped. At this time, it is the initial state. The high-definition camera takes pictures and transmits them to the PLC controller. The PLC controller obtains the initial values ​​after analysis and processing, and then starts the rotating motor. The screws are continuously screwed into the joint cavity. The high-definition camera takes pictures in real time and continuously transmits pictures. The PLC controller continuously obtains real-time values ​​and compares them with the set values ​​in real time. When the set value is reached, the rotating motor is stopped, the telescopic pole is started, and the rotating twisting rod is raised to complete the operation.

[0050] In this embodiment, the front end of the metal head is provided with a conical tip, which can easily enter the locking groove, and the tail end of the metal head is provided with an anti-slip shoulder 39, which is larger than the via diameter, thereby preventing transitional retraction, leaving no operating space for the driving cone.

[0051] In this embodiment, at least part of the outer clamping sleeve is made of elastic material such as rubber, etc. It has a certain elasticity, so that it is flexibly connected with the pull rod, reducing the contact strength with the pull rod during the screwing process to avoid damage.

[0052] In this embodiment, 2 to 4 pulling rods are provided, and the 2 to 4 pulling rods are evenly arranged on the circumference of the outer driving sleeve, so that the pressing force is uniform.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. An intelligent nail insertion system for cruciate ligament reconstruction, comprising a screw, characterized in that: It also includes a nail driving mechanism, a locking mechanism, a depth measuring mechanism and an intelligent control system. The nail driving mechanism includes a multi-degree-of-freedom mobile seat, a telescopic pole fixed on the multi-degree-of-freedom mobile seat, and a rotating motor fixed on the telescopic end of the telescopic pole, and a rotating twisting rod movably arranged on the main shaft of the rotating motor. The main shaft of the rotating motor is provided with a plug-in seat, and the plug-in seat is provided with a quick-connect hole. One end of the rotating twisting rod is inserted into the quick-connect hole to realize the driving connection, and the other end of the rotating twisting rod is plug-connected with the inner hole of the screw to form a driven connection. An annular cavity is arranged in the rotating twisting rod, and the annular cavity is provided with a plurality of long strip grooves penetrating along the axial direction in the circumferential direction. The locking mechanism comprises an outer drive sleeve, an inner sliding sleeve and a locking piece, wherein the outer drive sleeve is sleeved on the rotating screw rod, the inner sliding sleeve slides in the annular inner cavity, the outer drive sleeve and the inner sliding sleeve are fixedly connected by a plurality of connecting screws passing through the long slots, a plurality of locking pieces are provided, and they are evenly arranged on the same circumference in the annular cavity, and a through hole for the locking piece to extend out of the rotating screw rod is provided at a position corresponding to the rotating screw rod, a driving arm is provided at the tail of any locking piece, a driving cone is provided at the end of the inner sliding sleeve, which contacts the driving arm and drives the locking piece to extend, and a matching cone matching the driving cone is provided on the driving arm, The depth measurement mechanism includes a depth nail that is pre-inserted into the joint cavity and a high-definition camera. The tail of the depth nail is provided with a length scale. The depth nail passes through the screw and the rotating screw rod in sequence and extends from the rotating screw rod. The high-definition camera is provided on the end surface of the extended end of the rotating screw rod to read the scale position of the rotating screw rod corresponding to the depth nail. The intelligent control system includes a PLC controller, a display, a Bluetooth transmitter, and a Bluetooth receiver. The Bluetooth transmitter is electrically connected to a high-definition camera, the Bluetooth receiver is wirelessly connected to the Bluetooth transmitter, the Bluetooth receiver is electrically connected to the PLC controller and the display, and the PLC controller is electrically connected to a multi-degree-of-freedom mobile seat, a telescopic pole, and a rotating motor.

2. The intelligent nail insertion system for cruciate ligament reconstruction according to claim 1, characterized in that: The multi-freedom mobile seat is a manipulator or a mechanical arm with six degrees of freedom.

3. The cruciate ligament reconstruction intelligent nail insertion system according to claim 1, characterized in that: The locking and clamping mechanism also includes an outer clamping sleeve, which is threadedly matched with the plug-in seat. A pulling rod is arranged on the outer driving sleeve, and a clamping groove for clamping and fixing the pulling rod is arranged on the outer clamping sleeve.

4. The cruciate ligament reconstruction intelligent nail insertion system according to claim 3, characterized in that: The plug-in seat includes a stepped shaft, a depth nail through hole is set in the center of the stepped shaft, a screw through hole is set at the large end of the stepped shaft for connecting to a rotating motor, the small end of the stepped shaft is rotatably connected to a connecting sleeve, the connecting sleeve is provided with an external thread, the external clamping sleeve is provided with an internal thread matching the external thread, and the depth nail through hole at the small end of the stepped shaft is expanded into a quick-connect hole connected to a rotating twisting rod.

5. The cruciate ligament reconstruction intelligent nail insertion system according to claim 4, characterized in that : A rolling bearing is arranged between the connecting sleeve and the step shaft.

6. The cruciate ligament reconstruction intelligent nail insertion system according to claim 3, characterized in that : The outer clamping sleeve is at least partially made of elastic material.

7. The cruciate ligament reconstruction intelligent nail insertion system according to claim 3, characterized in that : The pulling rods are provided with 2-4 pieces.

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