Direction correction ring, pedicle screw implantation auxiliary correction system and auxiliary implantation system

Abstract

The present invention belongs to the technical field of medical devices. A direction correction ring, a pedicle screw implantation auxiliary correction system and an auxiliary implantation system, the direction correction ring includes a correction ring body, a micro force sensor and a controller, there are multiple micro force sensors, and they are evenly arranged on the inner wall of the correction ring body, which are used to sense the direction of the guide needle passing through the correction ring body; the controller is used to receive the sensing signal of the micro force sensor and prompt the correction direction; the pedicle screw implantation auxiliary correction system includes a first five-degree-of-freedom mechanical arm and a direction correction ring, the direction correction ring is fixedly connected to the action execution end of the first five-degree-of-freedom mechanical arm; the pedicle screw auxiliary implantation system, which cooperates with the above-mentioned direction correction ring to automatically implant the guide needle. The present invention can help doctors correct the implantation direction of the guide needle and automatically implant the guide needle, thereby improving surgical efficiency and accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a direction correction ring, a pedicle screw implantation auxiliary correction system and an auxiliary implantation system. Background Art

[0002] The current process of pedicle screw implantation is as follows: a thin steel needle is used to pierce a hole in the skin, and the needle is inserted along the optimal puncture path to allow the internal fixation needle to be immersed in the bone as much as possible to achieve the most stable fixation (but it cannot penetrate the bone marrow). A C-arm is used to perform multi-position fluoroscopy during the operation to confirm that the guide needle is in a good position, that is, maximized parallelism and close to the optimal puncture path. A hollow compression screw is then placed on the guide needle and screwed into the spine to ensure that the fixation path of the hollow screw is completely consistent with the direction of the previously inserted guide needle.

[0003] The guide needle implantation process is as follows: (1) The surgeon inserts the guide needle into the skin and presses it against the top of the spine. The surgeon uses “intraoperative fluoroscopy + multiple adjustments to the guide needle direction” to preliminarily determine the best guide needle direction; (2) The surgeon drills the guide needle into the spine; (3) Performs intraoperative fluoroscopy again in multiple positions to verify whether the guide needle position is appropriate; (4) If a large deviation is found, the above operation needs to be repeated to insert a second or more guide needles.

[0004] In actual surgery, due to the doctor's lack of experience in judging the insertion angle, and the process of drilling the guide needle with a drill itself, the guide needle will deviate from the original set direction due to a slight movement of the hand or the electric drill. Therefore, during the drilling process, it may be necessary to constantly correct the insertion direction.

[0005] For experienced orthopedic surgeons, when inserting the guide pin, they usually need to rely on the feeling of force in their hands to adjust the direction in order to ensure efficient and high-precision implantation of the pedicle screw. However, for most ordinary doctors, they often cannot feel the force accurately and have no way to adjust the implantation direction of the guide pin during the operation. In view of this problem, this project intends to design a system to help ordinary doctors achieve accurate and efficient guide pin implantation and reduce radiation exposure time. Summary of the invention

[0006] The purpose of the present invention is to provide a direction correction ring, a pedicle screw implantation auxiliary correction system and an auxiliary implantation system in view of the above-mentioned problems and shortcomings. Through the detection of a micro force sensor, the system of the present invention can help doctors correct the implantation direction of the guide needle and automatically implant the guide needle, thereby improving surgical efficiency and accuracy.

[0007] In order to achieve the above purpose, the technical solution adopted is:

[0008] A direction correction ring comprises a correction ring body, a micro force sensor and a controller. The micro force sensors are multiple and evenly arranged on the inner wall of the correction ring body, and are used to sense the direction of a guide needle passing through the correction ring body. The controller is used to receive the sensing signal of the micro force sensor. When the direction of the guide needle is inconsistent with the initial design direction, the micro force sensor is subjected to force and sends a signal, and the controller prompts the correction direction.

[0009] According to the direction correction ring, the number of the micro force sensors is four to eight.

[0010] According to the direction correction ring, the micro force sensor is an optical fiber strain sensor.

[0011] A pedicle screw implantation auxiliary correction system comprises a first five-degree-of-freedom mechanical arm and a direction correction ring as described in any of the above items, wherein the direction correction ring is fixedly connected to the action execution end of the first five-degree-of-freedom mechanical arm; wherein the orientation of the direction correction ring is adjusted by the first five-degree-of-freedom mechanical arm so that the line between the center of the middle part of the direction correction ring and the needle insertion point of the patient's body is the initial design direction of the pedicle screw insertion.

[0012] According to the pedicle screw implantation auxiliary correction system, the first five-degree-of-freedom mechanical arm includes a first-level axis system, a second-level axis system, a third-level axis system, a fourth-level axis system and a fifth-level axis system, the first-level axis system includes a base and a first rotating seat rotatably connected to the base; the second-level axis system includes a first rotating bridge arm, and the first rotating bridge arm is hinged on the first rotating seat; the third-level axis system includes a second rotating bridge arm, and the second rotating bridge arm is hinged on the first rotating bridge arm; the fourth-level axis system includes a first motor arranged on the second rotating bridge arm, and a third rotating bridge arm connected to the output shaft of the first motor, and the third rotating bridge arm is hinged to the second rotating bridge arm; the fifth-level axis system includes a second motor arranged on the third rotating bridge arm, and a first rotating shaft connected to the output shaft of the second motor; the direction correction ring is connected to the first rotating shaft.

[0013] According to the pedicle screw implantation auxiliary correction system, the first five-degree-of-freedom mechanical arm is a passive five-degree-of-freedom mechanical arm, the first three active joints of which are in manual operation mode, and the last two active joints are inching controlled by a handheld device.

[0014] According to the pedicle screw implantation auxiliary correction system, the first five-degree-of-freedom mechanical arm includes a brake for locking the movable joints of the first five-degree-of-freedom mechanical arm.

[0015] According to the pedicle screw implantation auxiliary correction system, the first five-degree-of-freedom mechanical arm is provided with a positioning device for positioning the orientation of the direction correction ring.

[0016] According to the pedicle screw implantation auxiliary correction system, the lower part of the direction correction ring is also connected to a positioning guide sleeve, the positioning guide sleeve is coaxially arranged with the direction correction ring, and the inner hole of the positioning guide sleeve is used to guide the implantation of the guide needle of the pedicle screw.

[0017] A pedicle screw auxiliary implantation system, which cooperates with the direction correction ring described in any of the above items to automatically implant a guide needle, comprises a second five-degree-of-freedom robotic arm and an induction drill; the induction drill is fixedly connected to the action execution end of the second five-degree-of-freedom robotic arm, comprises a guide needle, a torque sensor and a guide needle driving mechanism, the guide needle is set as a blunt drill, and the guide needle driving mechanism controls the guide needle to move or stop according to the signal of the torque sensor; wherein the guide part of the guide needle passes through the direction correction ring, and the second five-degree-of-freedom robotic arm controls the drilling direction of the guide needle according to the correction direction prompted by the controller.

[0018] The beneficial effects achieved by adopting the above technical solution are:

[0019] 1. The direction correction ring of the present application is installed on the extracorporeal device, which improves the accuracy and safety of the surgery without destroying the original surgical method;

[0020] 2. In the pedicle screw implantation surgery, using the auxiliary correction system for pedicle screw implantation of the present application, during the guide needle implantation process, when the guide needle direction is consistent with the initial design direction, the direction correction ring force sensor is basically not subjected to pressure or the force is balanced; when the guide needle direction is inconsistent with the initial design direction, the correction ring force sensor is unevenly stressed, and the system prompts the correction direction. During the pedicle screw implantation surgery, through the detection of the miniature force sensor, the system can help the doctor correct the implantation direction of the guide needle at any time to improve the efficiency and accuracy of the operation.

[0021] 3. During the pedicle screw implantation operation, the pedicle screw assisted implantation system can conveniently and accurately implant the guide needle, so that the pedicle screw implantation operation can be performed without relying on the doctor's feel, and the operation is highly accurate and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention, wherein the drawings are only used to illustrate some embodiments of the present invention, but not to limit all embodiments of the present invention thereto.

[0023] Figure 1 One of the structural schematic diagrams of the pedicle screw implantation auxiliary correction system according to an embodiment of the present invention is shown.

[0024] Figure 2A schematic diagram of the structure of the connection between the direction correction ring and the first rotation axis according to an embodiment of the present invention is shown in front view and top view.

[0025] Figure 3 One of the schematic diagrams of the top view structure of the direction correction ring according to the embodiment of the present invention is shown.

[0026] Figure 4 A second schematic diagram of the top view structure of the direction correction ring according to an embodiment of the present invention is shown.

[0027] Figure 5 A schematic diagram of the structure of a guide needle according to an embodiment of the present invention when the direction of the guide needle in the direction correction ring is inconsistent with the initial design direction.

[0028] Figure 6 A second structural schematic diagram of a pedicle screw implantation auxiliary correction system according to an embodiment of the present invention is shown.

[0029] Figure 7 A structural schematic diagram of a pedicle screw implantation auxiliary implantation system according to an embodiment of the present invention is shown.

[0030] Figure 8 A system signal flow chart of a pedicle screw implantation auxiliary correction system according to an embodiment of the present invention is shown.

[0031] Serial number in the picture:

[0032] 100 is a direction correction ring, 101 is a correction ring body, 102 is a miniature force sensor, 200 is a guide needle, 300 is a first five-degree-of-freedom robotic arm, 301 is a base, 302 is a first rotating seat, 303 is a first rotating bridge arm, 304 is a second rotating bridge arm, 305 is a third rotating bridge arm, 306 is a first rotating axis, 400 is a second five-degree-of-freedom robotic arm, 500 is an induction drill, and 600 is a positioning guide sleeve. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical features and technical effects of the technical solution of the present invention clearer, the following will be combined with the drawings of the specific embodiments of the present invention to clearly and completely describe the example scheme of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described 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.

[0034] See also Figure 2-Figure 5The present embodiment discloses a direction correction ring 100, comprising a correction ring body 101, a micro force sensor 102 and a controller. There are multiple micro force sensors 102, which are evenly distributed on the inner wall of the correction ring body 101, and are used to sense the direction of a guide needle passing through the correction ring body 101; the controller is used to receive the sensing signal of the micro force sensor. When the direction of the guide needle is inconsistent with the initial design direction, the micro force sensor 102 is subjected to force and sends a signal, and the controller prompts the correction direction.

[0035] The number of the micro force sensors 102 is four to eight. Figure 3 and Figure 4 As shown, the layout of the micro force sensor 102 in the correction ring body 101 is given, and the correction prompt mode can be set according to the layout of the micro force sensor 102 in the correction ring body 101. When installing, the installation position of the micro force sensor 102 needs to be marked prominently on the correction ring body 101. During use, the marking serves as the position reference for the controller of the direction correction ring 100 to prompt the correction direction. For example, deflection in the direction of the first or second micro force sensor.

[0036] In this embodiment, preferably, the micro force sensor 102 is an OSP-A or OSP-FP type optical fiber strain sensor.

[0037] The correction principle of the direction correction ring 100 is as follows: Figure 5 As shown, for the convenience of illustration, the middle hole of the direction correction ring 100 in the figure is relatively enlarged. The line between the center of the middle circle of the direction correction ring and the contact point of the patient's body is not only the initial design direction of the needle insertion, but also constrains the movement of the guide needle 200. When the direction of the guide needle 200 is consistent with the initial design direction, the four (maximum eight) micro force sensors 102 of the direction correction ring 100 are basically not subjected to force or are subjected to balanced force. When the direction of the guide needle 200 is inconsistent with the initial direction, the four micro force sensors of the direction correction ring 100 are subjected to uneven force, and the controller prompts the correction direction.

[0038] like Figure 1 and Figure 6 As shown, this embodiment also discloses a pedicle screw implantation auxiliary correction system, including a first five-degree-of-freedom robotic arm 300 and the direction correction ring 100 described above, wherein the direction correction ring 100 is fixedly connected to the end of the action execution end of the first five-degree-of-freedom robotic arm 300; wherein, the orientation of the direction correction ring 100 is adjusted by the first five-degree-of-freedom robotic arm 300, so that the line between the center of the middle part of the direction correction ring and the needle insertion point of the patient's body is the initial design direction of the pedicle screw insertion.

[0039] The first five-degree-of-freedom robotic arm 300 includes a first-level axis system, a second-level axis system, a third-level axis system, a fourth-level axis system and a fifth-level axis system. The first-level axis system includes a base 301 and a first rotating base 302 rotatably connected to the base 301; the second-level axis system includes a first rotating bridge arm 303, and the first rotating bridge arm 302 is hinged on the first rotating base 301; the third-level axis system includes a second rotating bridge arm 304, and the second rotating bridge arm 304 is hinged on the first rotating bridge arm 303; the fourth-level axis system includes a first motor arranged on the second rotating bridge arm 304, and a third rotating bridge arm 305 connected to the output shaft of the first motor, and the third rotating bridge arm 305 is hinged on the second rotating bridge arm 304; the fifth-level axis system includes a second motor arranged on the third rotating bridge arm 305, and a first rotating shaft 306 connected to the output shaft of the second motor; the direction correction ring 100 is connected to the first rotating shaft 306.

[0040] In this embodiment, the first five-degree-of-freedom robotic arm 300 can be set to be partially passive or active, and a scara-configured robotic arm can be used.

[0041] In this embodiment, when the first five-degree-of-freedom mechanical arm 300 is set as an active five-degree-of-freedom mechanical arm, a possible structure of the first five-degree-of-freedom mechanical arm is as follows:

[0042] The first five-degree-of-freedom mechanical arm 300 includes a first-level axis system, a second-level axis system, a third-level axis system, a fourth-level axis system and a fifth-level axis system. The first-level axis system includes a first servo motor and a first rotating seat 302 connected to the output shaft of the first servo motor; the second-level axis system includes a second servo motor arranged in the first rotating seat 302, a first rotating bridge arm 303 connected to the output shaft of the second servo motor, and the first rotating bridge arm 303 is hinged on the first rotating seat 302; the third-level axis system includes a third servo motor arranged in the first rotating bridge arm 303, The second rotating bridge arm 304 is connected to the output shaft of the third servo motor, and the second rotating bridge arm 304 is hinged on the first rotating bridge arm 303; the fourth-level axis system includes a fourth servo motor arranged on the second rotating bridge arm 304, and a third rotating bridge arm 305 connected to the output shaft of the fourth servo motor, and the third rotating bridge arm 305 is hinged on the second rotating bridge arm 304; the fifth-level axis system includes a fifth servo motor arranged on the third rotating bridge arm 305, and a first rotating shaft 306 connected to the output shaft of the fifth servo motor; the direction correction ring is connected to the first rotating shaft 306.

[0043] In this embodiment, when the first five-degree-of-freedom mechanical arm 300 is set as a passive five-degree-of-freedom mechanical arm, a possible structure is: brakes are respectively set at the five joints of the first five-degree-of-freedom mechanical arm 300 to lock the movable joints of the first five-degree-of-freedom mechanical arm, and the first motor and the second motor are only set at the last two joints of the first five-degree-of-freedom mechanical arm 300. The control method is: the first three movable joints adopt the manual operation mode, and the last two movable joints adopt the handheld device jog control. The specific operation method for the doctor to control the first five-degree-of-freedom mechanical arm 300 by operating the handheld device is as follows:

[0044] First, the surgeon pulls the first three joints, and under the guidance of the navigation system, the wrist point is moved to the predetermined position, and the first three joints are powered off to fix them in that position; then the surgeon uses the handheld device to jog the fourth and fifth joints of the first five-DOF robotic arm (the fourth and fifth joints are active joints), and under the guidance of the navigation system, the wrist point is moved to the predetermined position, and the last two joints are powered off to fix them in that position. At this point, the auxiliary operation platform of the first five-DOF robotic arm is built. Figure 8 As shown, the braking or inching control signal of the first five-degree-of-freedom robotic arm 300 is sent by the doctor to the first five-degree-of-freedom robotic arm controller through the handheld device; the signal of the optical fiber strain sensor on the direction correction ring 100 is transmitted to the handheld device through the signal demodulator and the direction correction ring controller (microcomputer) to give the doctor operation prompts.

[0045] Under the guidance of the navigation system, the doctor places the direction correction ring 100 at the ideal position and locks it, and then inserts a guide needle into the middle hole of the direction correction ring 100. Figure 1 and Figure 5 As shown, the line between the center of the middle part of the direction correction ring and the contact point of the patient's body is the initial design direction of the needle insertion.

[0046] In addition, if Figure 6 As shown, the lower part of the direction correction ring 100 is also connected to a positioning guide sleeve 600, which is coaxially arranged with the direction correction ring 100, and the inner hole of the positioning guide sleeve 600 is used to guide the implantation of the guide needle of the pedicle screw. That is, if the doctor is satisfied with the positioning of the direction correction ring 100, the correction ring 100 can be lengthened to become a positioning guide sleeve, which has a function similar to spine assist, directly guiding the doctor to implant the guide needle.

[0047] In summary, when using the pedicle screw implantation auxiliary correction system, the doctor can conveniently operate the first five-degree-of-freedom mechanical arm 300, and under the guidance of the navigation system (such as X-ray images), place the direction correction ring 100 at the end of the first five-degree-of-freedom mechanical arm 300 above the needle insertion direction, so that the straight line between the center of the middle circle of the direction correction ring and the implantation point on the patient is the doctor's initial design direction, and it is convenient to lock the direction through the brake. At this point, the straight line between the center of the middle circle of the direction correction ring and the implantation point on the patient is the doctor's initial design direction. During the guide needle implantation process, when the guide needle direction is consistent with the initial design direction, the micro force sensor 102 around the direction correction ring 100 is basically not subjected to pressure or is balanced in force; when the guide needle direction is inconsistent with the initial design direction, the micro force sensor 102 around the direction correction ring 100 is unevenly stressed, and the controller of the direction correction ring 100 prompts the correction direction.

[0048] If during the operation, the doctor finds that the direction set by the direction correction ring 100 is not accurate, the doctor can also unlock the first five-degree-of-freedom robotic arm 300 at any time to readjust the position of the direction correction ring 100.

[0049] In addition, to improve accuracy and efficiency, a positioning device for locating the orientation of the direction correction ring 100 may also be provided on the first five-degree-of-freedom robotic arm 300. The positioning device may locate the orientation of a line between the center of the middle circle of the direction correction ring 100 and the needle insertion point of the patient's body, and through system calibration, the relative relationship between the orientation of the line between the center of the middle circle of the direction correction ring 100 at the end of the first five-degree-of-freedom robotic arm 300 and the needle insertion point of the patient's body and the designed needle insertion direction can be displayed in real time.

[0050] like Figure 7 As shown, the present embodiment also discloses a pedicle screw auxiliary implantation system, which cooperates with the direction correction ring 100 and the pedicle screw implantation auxiliary correction system described above to automatically implant the guide needle 200, including a second five-degree-of-freedom mechanical arm 400 and an induction drill 500; the induction drill 500 is fixedly connected to the action execution end of the second five-degree-of-freedom mechanical arm 400, including the guide needle 200, a torque sensor and a guide needle driving mechanism, the guide needle is set as a blunt drill, and can only provide a relatively small drilling force, and the guide needle driving mechanism controls the guide needle 200 to move or stop according to the signal of the torque sensor; wherein, the guide part of the guide needle 200 passes through the direction correction ring 100, and the second five-degree-of-freedom mechanical arm 400 controls the drilling direction of the guide needle 200 according to the correction direction prompted by the direction correction ring controller.

[0051] When implanting the guide pin, the doctor can use the following three implantation methods to cooperate with the pedicle screw implantation auxiliary correction system:

[0052] First, after inserting the guide needle 200 into the adjusted direction correction ring 100, the doctor needs to manually drill the guide needle 200 into the patient's spine. During the drilling process, on the one hand, the doctor needs to manually adjust the drilling direction according to the prompt of the direction correction ring 100 controller, and on the other hand, the doctor also needs to confirm whether the cortical bone is drilled by hand and stop drilling in time;

[0053] Second, after inserting the guide needle 200 into the adjusted direction correction ring 100, the doctor uses the induction drill 500 to drill the guide needle 200 into the patient's spine. During the drilling process, on the one hand, the doctor needs to manually adjust the drilling direction according to the prompt of the controller of the direction correction ring 100, and on the other hand, the doctor does not need to confirm whether the cortical bone is drilled by hand. Instead, the controller in the induction drill 500 controls the guide needle 200 to stop drilling in time according to the torque sensed by the torque sensor;

[0054] Third, after inserting the guide needle 200 into the adjusted direction correction ring 100, the induction drill 500 on the pedicle screw assisted implantation system is used to drill the guide needle into the patient's spine. During the drilling process, on the one hand, the second five-degree-of-freedom robotic arm 400 automatically adjusts the drilling direction according to the prompt of the controller of the direction correction ring 100. On the other hand, the doctor does not need to confirm whether the cortical bone is drilled by hand. Instead, the induction drill 500 in the pedicle screw assisted implantation system senses the torque based on the torque sensor, and the controller in the induction drill 500 controls the guide needle 200 to stop drilling in time.

[0055] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the invention belongs. The words "one", "two" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate quantity restrictions. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0056] The exemplary implementation modes of the present invention are described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present invention, various modifications and variations can be made to the above-mentioned specific embodiments, and various combinations of the technical features and structures proposed in the present invention can be made without exceeding the protection scope of the present invention, which is determined by the attached claims.

Claims

1. A direction correction ring, characterized in that: include: Correction ring body; A plurality of micro force sensors are evenly arranged on the inner wall of the correction ring body, and are used to sense the direction of the guide needle passing through the correction ring body; and The controller is used to receive the sensing signal of the micro force sensor. The line between the center of the middle circle of the direction correction ring and the contact point of the patient's body is both the initial design direction of the needle insertion and the constraint of the movement of the guide needle. When the direction of the guide needle is consistent with the initial design direction, the multiple micro force sensors of the direction correction ring are basically not subjected to force or are subjected to balanced force. When the direction of the guide needle is inconsistent with the initial direction, the multiple micro force sensors of the direction correction ring are subjected to uneven force, and the controller prompts the correction direction.

2. A direction correction ring according to claim 1, characterized in that: The number of the miniature force sensors is four to eight.

3. A direction correction ring according to claim 1, characterized in that: The micro force sensor is an optical fiber strain sensor.

4. A pedicle screw implantation auxiliary correction system, characterized in that: include: The first five-degree-of-freedom robotic arm; as well as The direction correction ring according to any one of claims 1 to 3, which is fixedly connected to the action execution end of the first five-degree-of-freedom robotic arm; The orientation of the direction correction ring is adjusted by the first five-degree-of-freedom robotic arm so that the line between the center of the middle of the direction correction ring and the needle insertion point of the patient's body is the initial design direction of the pedicle screw insertion.

5. The pedicle screw implantation auxiliary correction system according to claim 4, characterized in that: The first five-degree-of-freedom robotic arm comprises: The first-stage shaft system includes a base and a first rotating seat rotatably connected to the base; The second-stage shaft system includes a first rotating bridge arm, wherein the first rotating bridge arm is hinged on a first rotating seat; The third-level shaft system includes a second rotating bridge arm, wherein the second rotating bridge arm is hinged to the first rotating bridge arm; The fourth-stage shaft system comprises a first motor arranged on the second rotating bridge arm, and a third rotating bridge arm connected to the output shaft of the first motor, wherein the third rotating bridge arm is hinged on the second rotating bridge arm; The fifth-stage shaft system includes a second motor disposed on the third rotating bridge arm and a first rotating shaft connected to an output shaft of the second motor; The direction correction ring is connected to the first rotation axis.

6. The pedicle screw implantation auxiliary correction system according to claim 4, characterized in that: The first five-degree-of-freedom robotic arm is a passive five-degree-of-freedom robotic arm, the first three active joints of which are in manual operation mode, and the last two active joints are inching controlled by a handheld device.

7. The pedicle screw implantation auxiliary correction system according to claim 4, characterized in that: The first five-degree-of-freedom robotic arm comprises a brake for locking the movable joints of the first five-degree-of-freedom robotic arm.

8. The pedicle screw implantation auxiliary correction system according to claim 4, characterized in that: The first five-degree-of-freedom mechanical arm is provided with a positioning device for positioning the orientation of the direction correction ring.

9. The pedicle screw implantation auxiliary correction system according to claim 4, characterized in that: The lower part of the direction correction ring is also connected with a positioning guide sleeve, the positioning guide sleeve is coaxially arranged with the direction correction ring, and the inner hole of the positioning guide sleeve is used to guide the implantation of the guide needle of the pedicle screw.

10. A pedicle screw assisted implantation system, characterized in that: include: The direction correction ring according to any one of claims 1 to 3; 25-DOF robotic arm; as well as An induction drill, which is fixedly connected to the action execution end of the second five-degree-of-freedom mechanical arm, comprises a guide needle, a torque sensor and a guide needle driving mechanism, wherein the guide needle is set as a blunt-tip drill, and the guide needle driving mechanism controls the guide needle to move or stop according to the signal of the torque sensor; Among them, the direction correction ring cooperates with the automatic implantation guide needle, the guide part of the guide needle passes through the direction correction ring, and the second five-degree-of-freedom robotic arm controls the drilling direction of the guide needle according to the correction direction prompted by the controller.

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