An osteotomy verification marker nail and its supporting integrated insertion and extraction device

Abstract

The present invention discloses an osteotomy verification marker nail, which includes a marker nail head, a threaded upper segment of the marker nail, a non-threaded lower segment of the marker nail, and a marker nail tapered tail segment that are coaxially connected in sequence from top to bottom. It can be used in robot-assisted total knee arthroplasty to determine whether there is a relative displacement between the bone target of the surgical robot and the patient's bone. The present invention also discloses a supporting integrated driving and extracting device for the osteotomy verification marker nail, which includes a driving and extracting column, a driving and extracting hammer, and a marker nail joint. The driving and extracting column includes a driving and extracting column top, a driving and extracting rod, a driving and extracting handle, and a driving and extracting column bottom; the driving and extracting hammer includes a percussion ring and a percussion handle; the marker nail joint includes a joint top and a joint column provided at its bottom end. A groove is opened upward on the bottom end surface of the joint column, and a cylindrical magnet, an upper joint, and a lower joint are sequentially arranged in the groove from top to bottom. The integrated driving and extracting device facilitates the doctor to quickly drive in or extract the marker nail during the operation, improving the efficiency of the operation.

Description

Technical Field

[0001] The present invention relates to an osteotomy verification marker nail and a supporting integrated driving and removing device thereof, belonging to the technical field of medical devices. Background Art

[0002] China has gradually entered the aging stage. Every year, the number of patients who need to receive artificial joint replacement due to various degenerations, traumas, and tumors reaches more than one million. Therefore, joint replacement surgery has a huge clinical demand. However, conventional knee joint replacement surgery has its disadvantages and deficiencies: 1. Conventional knee joint replacement surgery has extremely high requirements for doctors' skills, requires a large amount of surgical experience accumulation, and has a long learning curve; 2. The operation of conventional knee joint replacement surgery depends to a large extent on immediate performance and lacks precise preoperative planning; 3. It is difficult to standardize and repeat the surgical effect in conventional knee joint replacement surgery. A large amount of evidence shows that knee joint replacement surgery guided by a surgical robot has the advantages of precision, minimally invasive, and high stability, and knee joint replacement surgery assisted by a surgical robot can significantly improve the postoperative score of patients. As a part of the surgical robot system, an osteotomy verification marker nail can be used to determine whether there is a relative displacement between the bone target of the surgical robot and the patient's bone. Summary of the Invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide an osteotomy verification marker nail, which can be used in robot-assisted total knee replacement surgery to determine whether there is a relative displacement between the bone target of the surgical robot and the patient's bone.

[0004] Another purpose of the present invention is to provide a supporting integrated driving and removing device for the osteotomy verification marker nail, which is convenient for doctors to quickly drive in or remove the marker nail during the operation and improves the surgical efficiency.

[0005] One technical solution to achieve the above purpose is: an osteotomy verification marker nail, including a marker nail head, a threaded upper segment of the marker nail, a non-threaded lower segment of the marker nail, and a tapered tail segment of the marker nail that are coaxially connected in sequence from top to bottom;

[0006] The marker nail head is made of magnetic metal;

[0007] An indented marker nail marking point is provided on the outer side wall of the marker nail head.

[0008] In the above osteotomy verification marker nail, the marker nail head is in a hexagonal shape.

[0009] The present invention also provides a supporting integrated driving and removing device for the osteotomy verification marker nail, including a driving and removing column, a driving and removing hammer, and a marker nail joint, wherein:

[0010] The driving column includes a driving column top, a driving rod, a driving handle and a driving column bottom. The driving column top, the driving rod and the driving column bottom are coaxially arranged from top to bottom. The driving column top is semicircular, the driving column bottom is cylindrical, the driving rod is hollow inside, and the driving handle is arranged on the outer side wall of the driving column bottom.

[0011] The hammer includes a striking ring and a striking handle. The striking ring is made of rubber. A bayonet extending vertically through the outer wall of the striking ring is provided. The striking handle is fixed to the outer wall of the striking ring, and the striking handle and the bayonet are located on both radial sides of the striking ring in a one-to-one correspondence.

[0012] The marking nail joint includes a joint top and a joint column arranged at the bottom end thereof, the bottom end surface of the joint column is upwardly provided with a groove, and the groove is provided with a cylindrical magnet, an upper joint and a lower joint in sequence from top to bottom; the upper joint and the lower joint are matched with the marking nail head respectively;

[0013] The knocking ring is clamped on the knocking rod;

[0014] The joint top is welded to the bottom end of the driving column bottom.

[0015] The above-mentioned integrated driving and removal device for osteotomy verification marking nails, wherein the lower surface of the driving post top forms an upper striking surface; the upper surface of the driving post bottom forms a lower striking surface.

[0016] The above-mentioned integrated driving and removal device for osteotomy verification marking nails, wherein the cross-section of the upper joint is a hexagonal lace shape, and each side of the lace shape is formed by four folded edges connected in sequence; the cross-section of the lower joint is a hexagon.

[0017] The above-mentioned integrated driving and removal device for osteotomy verification marking nails, wherein, when the cross section of the lower joint is rotated 30 degrees counterclockwise at an upward viewing angle, the area swept by it is equal to the area of the cross section of the upper joint.

[0018] The above-mentioned integrated driving and removing device for osteotomy verification marking nails, wherein the marking nail head passes through the lower joint and the upper joint in sequence and is attracted and fixed to the cylindrical magnet.

[0019] The technical solution of the osteotomy verification marker nail of the present invention can be used in robot-assisted total knee replacement surgery to determine whether the bone target of the surgical robot has relative displacement with the patient's bone; the technical solution of the integrated insertion and removal device of the osteotomy verification marker nail of the present invention facilitates the doctor to quickly insert or remove the marker nail during surgery, thereby improving the efficiency of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a usage state diagram of an osteotomy verification marking nail and its supporting integrated driving and extracting device of the present invention;

[0021] Figure 2 A structural diagram of an osteotomy verification marking nail of the present invention;

[0022] Figure 3 It is a schematic structural diagram of the driving and extracting column;

[0023] Figure 4 It is a schematic structural diagram of the driving and extracting hammer;

[0024] Figure 5 It is a schematic structural diagram of the marking nail joint;

[0025] Figure 6 It is a vertical sectional view of the marking nail joint;

[0026] Figure 7 It is a schematic cross-sectional view of the upper joint of the marking nail joint;

[0027] Figure 8 It is a bottom view of the marking nail joint;

[0028] Figure 9 It is a diagram of the relative positional relationship between the marking nail and the upper joint when driving the marking nail;

[0029] Figure 10 It is a diagram of the relative positional relationship between the marking nail and the lower joint when extracting the marking nail. Detailed implementation manners

[0030] In order to enable those skilled in the art of this technical field to better understand the technical solution of the present invention, the following will describe its detailed implementation manners in detail with reference to the accompanying drawings:

[0031] Please refer to Figure 1 and Figure 2 , an embodiment of the present invention, an osteotomy verification marking nail 4, includes a marking nail head 41, a threaded upper section 42 of the marking nail, a non-threaded lower section 43 of the marking nail, and a tapered tail section 44 of the marking nail that are coaxially connected in sequence from top to bottom; the marking nail head 41 is made of magnetic metal; an indented marking nail marking point 45 is provided on the outer side wall of the marking nail head 41. During the operation, by using a robot-supported target pen to click on the marking nail marking point 45, the relative position between the marking nail and the robot-supported bone target can be obtained to determine whether the bone target has moved. The marking nail head 41 is in a hexagonal shape.

[0032] Please refer to Figure 1 , a supporting integrated driving and extracting device for an osteotomy verification marking nail, includes a driving and extracting column 1, a driving and extracting hammer 2, and a marking nail joint 3.

[0033] Please refer to again Figure 3 , the marking nail extracting column 1 includes a marking nail extracting column top 11, a marking nail extracting rod 12, a marking nail extracting handle 13 and a marking nail extracting column bottom 14. The marking nail extracting column top 11, the marking nail extracting rod 12 and the marking nail extracting column bottom 14 are coaxially arranged from top to bottom in sequence. The marking nail extracting column top 11 is semicircular, the marking nail extracting column bottom 14 is cylindrical, and the inside of the marking nail extracting rod 23 is hollow to reduce the overall weight; the marking nail extracting handle 13 is arranged on the outer side wall of the marking nail extracting column bottom 14; the lower surface of the marking nail extracting column top 11 forms an upper knocking surface 15; the upper surface of the marking nail extracting column bottom 14 forms a lower knocking surface 16.

[0034] Please refer to Figure 4 , the marking nail hammer 2 includes a knocking ring 21 and a knocking handle 22. The knocking ring 21 is made of rubber material. A through hole 23 is opened on the outer side wall of the knocking ring 21 from top to bottom. The knocking handle 22 is fixed on the outer side wall of the knocking ring 21, and the knocking handle 22 and the through hole 23 are located on the radial two sides of the knocking ring 21 in a one-to-one correspondence.

[0035] Please refer to Figures 5 to 8 , the marking nail joint 3 includes a joint top 31 and a joint column 32 arranged at its bottom end. A groove is opened upward on the bottom end surface of the joint column 32. A cylindrical magnet 33, an upper layer joint 34 and a lower layer joint 35 are arranged in the groove from top to bottom in sequence; the upper layer joint 34 and the lower layer joint 35 are respectively matched with the marking nail head 41; the cross section 341 of the upper layer joint 34 is in the shape of a hexagon with six sides, and each side of the hexagon is formed by four folded edges connected in sequence; the cross section 351 of the lower layer joint 35 is hexagonal. When the cross section 351 of the lower layer joint 35 rotates counterclockwise by 30 degrees from the upward view angle, the area of the region swept by it is equal to the area of the cross section 341 of the upper layer joint 34. The upper layer joint 34 has a driving limit 36 (see Figure 9 ) and a removal limit 37 (see Figure 10 ).

[0036] Please refer to again Figure 1 , the knocking ring 21 is clamped on the marking nail extracting rod 12. The knocking ring 21 of the marking nail hammer 2 is made of rubber material, which can be conveniently clamped into the marking nail extracting rod 12 and obtain good connectivity. When driving the marking nail 4, the knocking ring 21 continuously knocks the lower knocking surface 16 of the marking nail extracting column bottom 13 along the marking nail extracting rod 12. When removing the marking nail, the knocking ring 21 continuously knocks the upper knocking surface 15 of the marking nail extracting column top 11 along the marking nail extracting rod 12. During the preoperative disinfection of the instrument preparation, the knocking ring 21 can also be conveniently removed from the marking nail extracting rod 12 for piecemeal disinfection; the joint top 31 is welded to the bottom end 17 of the marking nail extracting column bottom 14. In this way, the marking nail extracting column 1, the marking nail hammer 2 and the marking nail joint 3 form an integrated driving and removing device. The marking nail head 41 passes through the lower layer joint 35 and the upper layer joint 34 in sequence and is attracted and fixed to the cylindrical magnet 33. In this way, the marking nail 4 will not fall naturally under gravity.

[0037] Please refer to Figure 1 、 Figure 9 and Figure 10 For the osteotomy verification marker nail and its supporting integrated insertion and extraction device of the present invention, during use, when disinfecting the instruments before surgery, remove the driving and extracting hammer 2 from the driving and extracting rod 12 of the driving and extracting column 1 for separate disinfection. After disinfection, during the operation, snap the knocking ring 21 of the driving and extracting hammer 2 onto the driving and extracting rod 12 of the driving and extracting column 1. The lower end of the marker nail joint 3 is provided with an upper joint 34 and a lower joint 35 that match the hexagonal marker nail 4 respectively.

[0038] Before driving the marker nail 4 into the patient's bone, pass the marker nail 4 through the lower joint 35 until it reaches the driving limit 36 at the top of the upper joint 34. At this time, the top surface of the marker nail head 41 of the marker nail 4 contacts and is attracted by the cylindrical magnet 33, and the marker nail 4 will not fall naturally under gravity.

[0039] When driving the marker nail 4 into the bone, first fix the marker nail 4 with the marker nail joint 3. First, use the driving and extracting hammer 2 to strike the lower knocking surface 16 of the bottom 14 of the driving and extracting column until the non-threaded lower section 43 of the marker nail 4 is completely driven into the bone. Then, rotate the driving handle 14 clockwise (reverse when viewed from above) half a turn to screw the threaded upper section 42 of the marker nail 4 into the bone to increase stability. At this time, the marker nail 4 is still at the driving limit 36. Then, directly lift the driving handle 14 to remove the marker nail 4.

[0040] There is a concave marker nail marking point 45 above the marker nail head 41. During the operation, use the robot - supporting target pen to click on the marker nail marking point 45 to obtain the relative position between the marker nail and the robot - supporting bone target to determine whether the bone target has shifted relative to the patient's bone.

[0041] Before removing the marker nail 4 from the patient's bone after osteotomy, pass the marker nail 4 through the lower joint 35 until it reaches the driving limit 36 at the top of the upper joint 34. At this time, the top surface of the marker nail head 41 of the marker nail 4 contacts and is attracted by the cylindrical magnet 33.

[0042] When removing the marker nail 4 from the bone: First, rotate the driving handle 14 counterclockwise (when viewed from above) half a turn to screw the threaded upper section 42 of the marker nail 4 out of the bone. At this time, the marker nail 4 and the marker nail joint 3 are displaced relative to each other and are at the extraction limit 37 of the upper joint 34. At this time, when lifting the driving handle 14, the marker nail head 41 can be blocked by the outer edge 38 of the joint of the marker nail joint 3. Then, use the driving and extracting hammer 2 to strike the upper knocking surface 15 of the top 11 of the driving and extracting column to drive out the marker nail 4. At this time, rotate the marker nail 4 clockwise (when viewed from below) 30 degrees to rotate the marker nail 4 from the extraction limit 37 to the driving limit 36, and then remove the marker nail 4 from the marker nail joint 3.

[0043] In summary, the osteotomy verification marker nail of the present invention and its supporting integrated driving and removing device can be used in robot-assisted total knee arthroplasty. The marker nail can determine whether there is relative displacement between the bone target of the surgical robot and the patient's bone, and the integrated driving and removing device facilitates the doctor to quickly drive in or remove the marker nail during the operation, improving the surgical efficiency.

[0044] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as within the scope of the substantial spirit of the present invention, changes and modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. An integrated device for inserting and removing an osteotomy verification marker nail, characterized in that, The osteotomy verification marker nail includes a marker nail head, an upper section of the marker nail with threads, a lower section of the marker nail without threads, and a tapered tail section of the marker nail, which are coaxially connected in sequence from top to bottom; The marker nail head is made of magnetic metal; a concave marker point of the marker nail is provided on the outer side wall of the marker nail head; the marker nail head is in a hexagonal shape; The integrated driving and removing device includes a driving and removing column, a driving and removing hammer, and a marker nail joint, where: The driving and removing column includes a driving and removing column top, a driving and removing rod, a driving and removing handle, and a driving and removing column bottom. The driving and removing column top, the driving and removing rod, and the driving and removing column bottom are coaxially arranged in sequence from top to bottom. The driving and removing column top is in a semi-circular shape, the driving and removing column bottom is in a cylindrical shape, the inside of the driving and removing rod is hollow, and the driving and removing handle is arranged on the outer side wall of the driving and removing column bottom; The driving and removing hammer includes a knocking ring and a knocking handle. The knocking ring is made of rubber material. A through notch is provided on the outer side wall of the knocking ring. The knocking handle is fixed on the outer side wall of the knocking ring, and the knocking handle and the notch are located on the radial two sides of the knocking ring in a one-to-one correspondence; The marker nail joint includes a joint top and a joint column arranged at its bottom end. A groove is opened upward on the bottom end surface of the joint column. A cylindrical magnet, an upper joint, and a lower joint are arranged in sequence from top to bottom in the groove; the upper joint and the lower joint are respectively matched with the marker nail head; The knocking ring is clamped on the driving and removing rod; The joint top is welded to the bottom end of the driving and removing column bottom; The lower surface of the driving and removing column top forms an upper knocking surface; the upper surface of the driving and removing column bottom forms a lower knocking surface; The marker nail head passes through the lower joint and the upper joint in sequence and is attracted and fixed to the cylindrical magnet.

2. The supporting integrated driving and removing device for the osteotomy verification marker nail according to claim 1, characterized in that, The cross-section of the upper joint is in a flower shape with six sides, and each side of the flower shape is formed by four folded edges connected in sequence; the cross-section of the lower joint is in a hexagonal shape.

3. The supporting integrated driving and extracting device for the osteotomy verification marking nail according to claim 1, characterized in that, When the cross-section of the lower joint rotates counterclockwise by 30 degrees in the upward view angle, the area of the region swept by it is equal to the area of the cross-section of the upper joint.

4. The supporting integrated driving and removing device for the osteotomy verification marking nail according to claim 1, characterized in that, When driving in the marker nail, the knocking ring continuously knocks the lower knocking surface of the driving and removing column bottom along the driving and removing rod; when removing the marker nail, the knocking ring continuously knocks the upper knocking surface of the driving and removing column top along the driving and removing rod.

5. The integrated driving and removing device for the osteotomy verification marker nail according to claim 1, wherein, When driving the marker nail into the bone, first fix the marker nail with the marker nail joint. First, use the driving and removing hammer to hammer the lower knocking surface of the driving and removing column bottom until the lower section of the marker nail without threads is completely driven into the bone. Then, rotate the driving and removing handle clockwise by half a turn in the top view direction to turn the upper section of the marker nail with threads into the bone to increase stability; at this time, the marker nail is still in the driving limit; then directly lift the driving and removing handle to remove the marker nail.

6. The integrated driving and extracting device for the osteotomy verification marker nail according to claim 1, wherein During the operation, use the robot supporting target pen to click on the marker point of the marker nail to obtain the relative position between the marker nail and the robot supporting bone target to determine whether the bone target has displaced relative to the patient's bone.

7. The integrated driving and extracting device for the osteotomy verification marker nail according to claim 1, characterized in that Before removing the marker nail from the patient's bone after the osteotomy is completed, pass the marker nail through the lower joint until it reaches the driving limit at the top of the upper joint. At this time, the top surface of the marker nail head of the marker nail contacts and is attracted by the cylindrical magnet.

8. The supporting integrated driving and removing device for the osteotomy verification marker nail according to claim 1, characterized in that, When removing the marker nail from the bone: First, rotate the extraction handle counterclockwise half a turn in the top-down direction to screw out the upper threaded section of the marker nail with threads from the bone. At this time, the marker nail and the marker nail joint have relative displacement and are in the extraction limit position of the upper joint. At this time, when lifting the extraction handle, the marker nail head is blocked by the outer edge of the joint of the marker nail joint; Then, use the extraction hammer to strike the upper striking surface of the extraction column top to drive out the marker nail; At this time, rotate the marker nail 30 degrees clockwise in the bottom-up direction to rotate the marker nail from the extraction limit position to the insertion limit position, and then remove the marker nail from the marker nail joint.

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