Cervical corpectomy system

Abstract

The present invention provides a cervical corpectomy system comprising: a powered cutting tool; an intermediate auxiliary mold comprising an intermediate mold body and a fixing plate, the intermediate mold body having a left intermediate body guide groove and a right intermediate body guide groove; and a positioning auxiliary mold comprising a positioning mold body and a fixing block, the positioning mold body being provided with a first positioning body guide groove and a second positioning body guide groove. The opening created by this cervical corpectomy system is time-saving and less likely to damage the vertebral body and surrounding tissues.

Description

Technical Field

[0001] The present invention relates to the technical field of subtotal vertebrae resection instruments, in particular to a cervical vertebrae subtotal vertebrae resection system. Background Art

[0002] Vertebral resection is the removal of part of the bone on the vertebral body. In existing vertebral resection, bone rongeurs are usually used to gradually chisel off the bone to be removed from the vertebral body, and finally an opening is chiseled through the vertebral body. Using existing tools to perform a vertebral resection generally takes 1-2 hours and is likely to cause damage to the vertebral body and surrounding tissues. How to design a cervical vertebral resection system that takes less time and is less likely to cause damage to the vertebral body and surrounding tissues is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the technical problem solved by the present invention is to provide a cervical corpectomy system that consumes less time and is less likely to cause damage to the vertebral body and surrounding tissues.

[0004] To achieve the above and other related objectives, the present invention provides a cervical corpectomy system, comprising:

[0005] Power cutting tools;

[0006] An intermediate auxiliary mold comprises an intermediate mold body and a fixing plate connected to the rear side surface of the intermediate mold body, wherein the front side surface of the intermediate mold body is provided with an intermediate body left guide groove for inserting the power cutting tool, and the front side surface of the intermediate mold body is provided with an intermediate body right guide groove for inserting the power cutting tool; the intermediate body left guide groove and the intermediate body right guide groove are both passed through to the rear side surface of the intermediate mold body; the connection between the intermediate mold body and the fixing plate is between the rear end notch of the intermediate body left guide groove and the rear end notch of the intermediate body right guide groove; the distance between the rear end notch of the intermediate body left guide groove and the rear end notch of the intermediate body right guide groove is smaller than the distance between the front end notch of the intermediate body left guide groove and the front end notch of the intermediate body right guide groove;

[0007] The positioning auxiliary mold includes a positioning mold body and a fixed block connected to the rear side surface of the positioning mold body, the front side surface of the positioning mold body is provided with a first positioning body guide groove for inserting the power cutting tool, and the front side surface of the positioning mold body is provided with a second positioning body guide groove for inserting the power cutting tool; the first positioning body guide groove and the second positioning body guide groove are both passed through to the rear side surface of the fixed block; the first positioning body guide groove and the second positioning body guide groove are staggered; the front end notch of the first positioning body guide groove is on the left side of the front end notch of the second positioning body guide groove; the rear end notch of the first positioning body guide groove is on the right side of the rear end notch of the second positioning body guide groove.

[0008] Preferably, the shape of the rear side surface of the intermediate phantom is the same as the shape of the front side surface of the vertebral body, and the shape of the rear side surface of the positioning phantom is the same as the shape of the front side surface of the vertebral body.

[0009] Furthermore, the cervical vertebra subtotal resection system is used to cut a preset opening portion on the vertebral body, the opening portion passes through the front-to-back direction of the vertebral body, the opening portion passes through the top-to-bottom direction of the vertebral body, and the opening portion has relative left and right hole walls; the left hole wall includes a front left wall surface and a rear left wall surface which are sequentially arranged and connected from front to back, and the front left wall surface is inclined relative to the rear left wall surface; the right hole wall includes a front right wall surface and a rear right wall surface which are sequentially arranged and connected from front to back, and the front right wall surface is inclined relative to the rear right wall surface; a front channel is formed between the front left wall surface and the front right wall surface, and the front channel is for the fixing block to be inserted, and the fixing block and the front channel are clearance-fitted.

[0010] Furthermore, the anterior midline on the anterior side of the vertebral body divides the anterior side of the vertebral body into a symmetrically arranged anterior left half and anterior right half, and the two endpoints of the anterior midline are the anterior upper endpoint and the anterior lower endpoint; the posterior midline on the posterior side of the vertebral body divides the posterior side of the vertebral body into a symmetrically arranged posterior left half and posterior right half, and the two endpoints of the posterior midline are the posterior upper endpoint and the posterior lower endpoint; the upper endpoint of the anterior side of the anterior left wall is a preset left anterior upper cutting point on the vertebral body, and the upper endpoint of the anterior side of the anterior right wall is a preset right anterior upper cutting point on the vertebral body;

[0011] The line connecting the left front upper cutting point and the rear upper endpoint is the left upper cutting line, and the line connecting the right front upper cutting point and the rear upper endpoint is the right upper cutting line; the line connecting the front upper endpoint and the rear upper endpoint is the line connecting the upper midpoints of the vertebral body; the angle between the left upper cutting line and the line connecting the upper midpoints of the vertebral body is equal to the angle between the extension direction of the left guide groove of the intermediate body and the fixing plate; the angle between the right upper cutting line and the line connecting the upper midpoint of the vertebral body is equal to the angle between the extension direction of the right guide groove of the intermediate body and the fixing plate.

[0012] Furthermore, the shape of the center line of the vertical cross-section of the left guide groove of the intermediate body is the same as the shape of the rear center line; the shape of the center line of the vertical cross-section of the right guide groove of the intermediate body is the same as the shape of the rear center line.

[0013] Furthermore, when the rear side surface of the intermediate mold body is in contact with the front side surface of the vertebral body, the length of the line connecting the upper end point of the intermediate left groove of the center line of the vertical cross-section of the front end of the left guide groove of the intermediate body and the upper end point of the rear part of the vertebral body is the insertion length of the upper end of the left side of the intermediate body; the depth of the upper part of the left guide groove of the intermediate body plus the length of the upper left cutting line is equal to the insertion length of the upper end of the left side of the intermediate body; the length of the line connecting the lower end point of the intermediate left groove of the center line of the vertical cross-section of the front end of the left guide groove of the intermediate body and the lower end point of the rear part of the vertebral body is the insertion length of the lower end of the left side of the intermediate body; the insertion length of the upper end of the left side of the intermediate body is equal to the insertion length of the lower end of the left side of the intermediate body;

[0014] The length of the line connecting the upper end point of the middle right groove of the vertical cross-section of the front end of the right side guide groove of the intermediate body and the rear upper end point of the rear side surface of the intermediate mold body is the insertion length of the upper right end of the intermediate body; the depth of the upper part of the right side guide groove of the intermediate body plus the length of the upper right side cutting line is equal to the insertion length of the upper right end of the intermediate body; the length of the line connecting the lower end point of the middle right groove of the vertical cross-section of the front end of the right side guide groove of the intermediate body and the rear lower end point of the rear side surface of the intermediate mold body is the insertion length of the lower right end of the intermediate body; the insertion length of the upper right end of the intermediate body is equal to the insertion length of the lower right end of the intermediate body.

[0015] Furthermore, the upper end point of the posterior side of the posterior left wall is a preset upper cutting point on the left posterior portion of the vertebral body, and the upper end point of the posterior side of the posterior right wall is a preset upper cutting point on the right posterior portion of the vertebral body;

[0016] The upper endpoint of the center line of the front notch end face of the second positioning body guide groove is the second front groove upper endpoint, the upper endpoint of the center line of the rear notch end face of the second positioning body guide groove is the second rear groove upper endpoint, and the line connecting the second front groove upper endpoint and the second rear groove upper endpoint is the second groove upper end line; the upper endpoint of the center line of the front notch end face of the first positioning body guide groove is the first front groove upper endpoint, the upper endpoint of the center line of the rear notch end face of the first positioning body guide groove is the first rear groove upper endpoint, and the line connecting the first front groove upper endpoint and the first rear groove upper endpoint is the first groove upper end line;

[0017] The upper cutting point of the left rear portion is located on the extension line of the line connecting the upper ends of the second grooves; the upper cutting point of the right rear portion is located on the extension line of the line connecting the upper ends of the first grooves.

[0018] Furthermore, the shape of the rear side edge of the rear left wall is the same as the shape of the center line of the front slot end face of the second positioning body guide groove; the shape of the rear side edge of the rear right wall is the same as the shape of the center line of the front slot end face of the first positioning body guide groove.

[0019] Preferably, the power cutting tool is connected to a robotic arm of a surgical robot, and the robotic arm is connected to a controller.

[0020] Furthermore, the cervical vertebral subtotal resection system also includes a scanning device and a data entry device, and the scanning device and the data entry device are both connected to the controller; the scanning device transmits the acquired image data of the vertebral body to the controller; the data entry device transmits the acquired position data of the preset opening on the vertebral body to the controller.

[0021] As described above, the cervical corpectomy system of the present invention has the following beneficial effects:

[0022] When the cervical vertebrae subtotal resection system is in use, the power cutting tool first cuts the vertebrae into a left half and a right half; then the rear side of the middle mold of the middle auxiliary mold is fitted with the front side of the vertebrae, and the fixing plate is extended into the spacing groove; the power cutting tool is inserted from the left guide groove of the middle body of the middle mold to cut out the first left triangular bone block; the power cutting tool is inserted from the right guide groove of the middle body of the middle mold to cut out the first right triangular bone block; finally, the rear side of the positioning mold is fitted with the front side of the vertebrae, and the fixing block is inserted into the front channel; the power cutting tool is inserted from the second positioning body guide groove of the positioning mold to cut out the second left triangular block; the power cutting tool is inserted from the first positioning body guide groove of the positioning mold to cut out the second right triangular block, which enables the cervical vertebrae subtotal resection system to cut a preset opening on the vertebrae; the opening cut by using the cervical vertebrae subtotal resection system takes less time and is not easy to cause damage to the vertebrae and surrounding tissues. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Shown is a schematic top view of the vertebral body of an embodiment.

[0024] Figure 2 A schematic structural diagram showing the front side of a vertebral body according to an embodiment.

[0025] Figure 3 A schematic structural diagram showing the posterior side of a vertebral body according to an embodiment is shown.

[0026] Figure 4 Shown is a schematic structural diagram of a first cutting surface of a vertebral body according to an embodiment.

[0027] Figure 5 The figure shows a schematic top view of the structure of a cervical corpectomy system according to an embodiment, in which a power cutting tool cuts a vertebral body into a left half and a right half.

[0028] Figure 6 The figure shows a three-dimensional structural diagram of a cervical corpectomy system according to an embodiment in which a power cutting tool cuts a vertebral body into a left half and a right half.

[0029] Figure 7 The figure shows a schematic top view of the structure of the power cutting tool of the cervical corpectomy system of the embodiment cutting a first left triangular bone block on the vertebral body.

[0030] Figure 8 The figure shows a schematic top view of the structure of the power cutting tool of the cervical corpectomy system of the embodiment cutting a first right triangular bone block on the vertebral body.

[0031] Figure 9 It is a schematic diagram showing the structure of setting a posterior midline on the vertebral body in an embodiment.

[0032] Figure 10 Schematic diagram of the front three-dimensional structure of the cervical corpectomy system when the intermediate phantom contacts the vertebral body according to the embodiment

[0033] Figure 11 Shown is a structural schematic diagram of the angle between the cutting line of the upper left part of the vertebral body and the line connecting the upper midpoints of the vertebral body in an embodiment.

[0034] Figure 12 Shown is a structural schematic diagram of the angle between the cutting line of the upper right side of the vertebral body and the line connecting the upper midpoints of the vertebral body in an embodiment.

[0035] Figure 13 Shown is a perspective view of an intermediate auxiliary mold of a cervical corpectomy system according to an embodiment.

[0036] Figure 14 Shown is a schematic cross-sectional structure diagram of an intermediate auxiliary mold of a cervical vertebral body subtotal resection system according to an embodiment.

[0037] Figure 15 The figure shows a schematic top view of the structure of a cervical corpectomy system according to an embodiment in which the power cutting tool cuts a second left triangular block on the vertebral body.

[0038] Figure 16 The figure shows a schematic top view of the structure of a cervical corpectomy system according to an embodiment in which the power cutting tool cuts a second right triangular block on the vertebral body.

[0039] Figure 17 The diagram shows a structure in which a first left triangular bone block, a first right triangular bone block, a second left triangular block, and a second right triangular block are inserted into the opening of a vertebral body according to an embodiment.

[0040] Figure 18 The diagram shows a top view of the structure when the first left triangular bone block, the first right triangular bone block, the second left triangular block and the second right triangular block are removed from the vertebral body in an embodiment.

[0041] Figure 19 It is a schematic diagram of the three-dimensional structure when the first left triangular bone block, the first right triangular bone block, the second left triangular block and the second right triangular block are removed from the vertebral body in an embodiment.

[0042] Figure 20 Shown is a schematic diagram of the three-dimensional structure of a positioning auxiliary mold of a cervical vertebral body subtotal resection system according to an embodiment.

[0043] Figure 21 Shown is a structural schematic diagram of the front side of a positioning auxiliary mold of a cervical vertebral body subtotal resection system according to an embodiment.

[0044] Figure 22 Shown is a schematic structural diagram of the rear side of a positioning auxiliary mold of a cervical vertebral body subtotal resection system according to an embodiment.

[0045] Figure 23 Shown is a schematic cross-sectional structure diagram of a positioning auxiliary mold of a cervical vertebral body subtotal resection system according to an embodiment.

[0046] Figure 24 Shown is a schematic diagram of a cervical corpectomy system according to an embodiment under the control of a controller.

[0047] Explanation of Figure Numbers

[0048] 100 Power Cutting Tools

[0049] 200 intermediate auxiliary mold

[0050] 210 intermediate model

[0051] 211 Intermediate left guide groove

[0052] 2111 Rear end notch of left guide groove of intermediate body

[0053] 2112 Front notch of the left guide groove of the intermediate body

[0054] 212 Intermediate right guide groove

[0055] 2121 Rear end notch of the right guide groove of the intermediate body

[0056] 2122 Front notch of the right guide groove of the intermediate body

[0057] 220 fixing plate

[0058] 300 Positioning auxiliary mold

[0059] 310 Positioning Phantom

[0060] 311 First positioning body guide groove

[0061] 3111 Front end notch of the first positioning body guide groove

[0062] 3112 Rear end notch of the first positioning body guide groove

[0063] 312 Second positioning body guide groove

[0064] 3121 Front end notch of the second positioning body guide groove

[0065] 3122 Rear end notch of the second positioning body guide groove

[0066] 320 fixed block

[0067] 400 vertebrae

[0068] 401 Left half

[0069] 402 right half

[0070] 403 First left triangular bone

[0071] 404 First right triangular bone

[0072] 405 Second left triangle block

[0073] 406 Second right triangle block

[0074] 407 spacing slot

[0075] 410 opening

[0076] 411 left hole wall

[0077] 4111 Front left wall

[0078] 4112 Rear left wall

[0079] 412 right hole wall

[0080] 4121 Front right wall

[0081] 4122 rear right wall

[0082] 421 Front left half

[0083] 422 Front right half

[0084] 431 Back left half

[0085] 432 Back right half

[0086] 500 controller

[0087] 600 Scanning Devices

[0088] 700 Data Entry Equipment

[0089] 800 Robotic Arm

[0090] L1 anterior midline

[0091] A1 front upper end point

[0092] A2 front lower endpoint

[0093] L2 posterior midline

[0094] B1 posterior upper end point

[0095] B2 rear lower endpoint

[0096] C Left front upper cutting point

[0097] D Right front upper cutting point

[0098] E1 Left rear upper cutting point

[0099] E2 Left rear lower cutting point

[0100] F1 right rear upper cutting point

[0101] F2 right rear lower cutting point

[0102] L3 Left upper cutting line

[0103] L4 upper right cutting line

[0104] Line connecting the upper midpoints of the L5 vertebra

[0105] M Angle between the left upper cutting line and the line connecting the upper midpoint of the vertebral body

[0106] N The angle between the right upper cutting line and the line connecting the upper midpoint of the vertebral body

[0107] P Angle between the extension direction of the left guide groove of the intermediate body and the fixed plate

[0108] Q Angle between the extension direction of the guide groove on the right side of the intermediate body and the fixed plate

[0109] G1 The upper end point of the middle left groove of the vertical cross section of the center line of the front end of the left guide groove of the intermediate body

[0110] G2 The lower end point of the middle left groove of the vertical cross section of the center line of the front end of the left guide groove of the intermediate body

[0111] H1 The upper end point of the middle right groove of the vertical cross section of the center line of the front end of the right guide groove of the intermediate body

[0112] H2 The lower end point of the middle right groove of the vertical cross section of the center line of the front end of the right guide groove of the intermediate body

[0113] J1 Upper endpoint of the second front slot

[0114] J2 Lower endpoint of the second front groove

[0115] T1 Upper endpoint of the second rear slot

[0116] K1 Upper end point of the first front groove

[0117] K2 Lower end point of the first front groove

[0118] S1 Upper endpoint of the first rear slot DETAILED DESCRIPTION

[0119] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0120] Please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0121] Example 1

[0122] like Figures 5 to 8 , Figures 13 to 23 As shown, the cervical corpectomy system of this embodiment includes:

[0123] Power cutting tool 100;

[0124] The intermediate auxiliary mold 200 includes an intermediate mold body 210 and a fixing plate 220 connected to the rear side of the intermediate mold body 210. The front side of the intermediate mold body 210 is provided with an intermediate body left guide groove 211 for inserting the power cutting tool 100, and the front side of the intermediate mold body 210 is provided with an intermediate body right guide groove 212 for inserting the power cutting tool 100; the intermediate body left guide groove 211 and the intermediate body right guide groove 212 are both connected to the rear side of the intermediate mold body 210; the connection between the intermediate mold body 210 and the fixing plate 220 is between the rear end notch 2111 of the intermediate body left guide groove and the rear end notch 2121 of the intermediate body right guide groove; the distance between the rear end notch 2111 of the intermediate body left guide groove and the rear end notch 2121 of the intermediate body right guide groove is smaller than the distance between the front end notch 2112 of the intermediate body left guide groove and the front end notch 2122 of the intermediate body right guide groove;

[0125] The positioning auxiliary mold 300 includes a positioning mold body 310 and a fixed block 320 connected to the rear side of the positioning mold body 310. A first positioning body guide groove 311 for inserting the power cutting tool 100 is provided on the front side of the positioning mold body 310, and a second positioning body guide groove 312 for inserting the power cutting tool 100 is provided on the front side of the positioning mold body 310; the first positioning body guide groove 311 and the second positioning body guide groove 312 are both connected to the rear side of the fixed block 320; the first positioning body guide groove 311 and the second positioning body guide groove 312 are arranged alternately; the front end notch 3111 of the first positioning body guide groove 311 is on the left side of the front end notch 3121 of the second positioning body guide groove 312; the rear end notch 3112 of the first positioning body guide groove 311 is on the right side of the rear end notch 3122 of the second positioning body guide groove 312.

[0126] When the cervical vertebral body subtotal resection system is used, the power cutting tool 100 first cuts the vertebral body 400 into a left half 401 and a right half 402; then the rear side of the middle mold body 210 of the middle auxiliary mold 200 is fitted with the front side of the vertebral body 400, and the fixing plate 220 is inserted into the spacing groove 407. The setting of the fixing plate 220 makes the position of the middle auxiliary mold 200 stable; the power cutting tool 100 is inserted from the left guide groove 211 of the middle body of the middle mold body 210 to remove the first left triangular bone block 403; the power cutting tool 100 is inserted from the right guide groove 212 of the middle body of the middle mold body 210 to remove the The first right triangular bone block 404 is formed; finally, the posterior side of the positioning mold 310 is aligned with the anterior side of the vertebral body 400, and the fixing block 320 is inserted into the anterior channel. The setting of the fixing block 320 stabilizes the position of the positioning auxiliary mold 300; the power cutting tool 100 is inserted through the second positioning body guide groove 312 of the positioning mold 310 to remove the second left triangular block 405; the power cutting tool 100 is inserted through the first positioning body guide groove 311 of the positioning mold 310 to remove the second right triangular block 406. This enables the cervical corpectomy system to cut a preset opening 410 on the vertebral body 400;

[0127] The cervical vertebrae subtotal resection system can be used to cut a preset opening 410 on the vertebral body 400 through five cuts. After five cuts, four wedge-shaped bone blocks can be removed successively, and the five cuts generally take less than half an hour to complete. The cutting depth and direction of the power cutting tool 100 are easy to control, so the cutting process is not likely to cause damage to the vertebral body 400 and surrounding tissues. The opening 410 cut out by the cervical vertebrae subtotal resection system takes less time and is not likely to cause damage to the vertebral body 400 and surrounding tissues. The power cutting tool 100 is a high-speed power cutting tool, and the power cutting tool 100 is preferably an ultrasonic bone knife. The ultrasonic bone knife can promote postoperative wound healing.

[0128] In this embodiment, the intermediate auxiliary mold 200 and the positioning auxiliary mold 300 are both manufactured using 3D printing technology and are integrally formed. The shape of the posterior surface of the intermediate mold body 210 is identical to the shape of the anterior surface of the vertebral body 400, and the shape of the posterior surface of the positioning mold body 310 is identical to the shape of the anterior surface of the vertebral body 400. This structure enables the rear side of the intermediate mold body 210 to fit with the front side of the vertebral body 400. When the power cutting tool 100 is inserted into the left guide groove 211 and the right guide groove 212 of the intermediate body, the intermediate auxiliary mold 200 is not easy to move. The position of the intermediate auxiliary mold 200 is stable, which is conducive to controlling the cutting accuracy of the power cutting tool 100. This structure enables the rear side of the positioning mold body 310 to fit with the front side of the vertebral body 400. When the power cutting tool 100 is inserted into the first positioning body guide groove 311 and the second positioning body guide groove 312, the positioning auxiliary mold 300 is not easy to move. The position of the positioning auxiliary mold 300 is stable, which is conducive to controlling the cutting accuracy of the power cutting tool 100. In this embodiment, the shape of the rear side of the intermediate mold body 210 and the shape of the rear side of the positioning mold body 310 are both arc-shaped.

[0129] like Figure 15 、 Figure 18 and Figure 19 As shown, the cervical corpectomy system is used to cut a preset opening 410 on the vertebral body 400. The opening 410 passes through the vertebral body 400 in the front-to-back direction and the top-to-bottom direction. The opening 410 has a left hole wall 411 and a right hole wall 412 opposite to each other. The left hole wall 411 includes a front left wall surface 4111 and a rear left wall surface 4112 sequentially arranged and connected from front to back. The front left wall surface The right side wall 4111 is inclined relative to the posterior left wall 4112. The right side wall 412 includes an anterior right wall 4121 and a posterior right wall 4222, which are arranged and connected from front to back. The anterior right wall 4121 is inclined relative to the posterior right wall 4222. An anterior channel is formed between the anterior left wall 4111 and the anterior right wall 4121. The fixing block 320 is inserted into the anterior channel, and the fixing block 320 has a clearance fit with the anterior channel. This structure ensures that when the fixing block 320 is inserted into the anterior channel, the position of the positioning mold 310 relative to the vertebral body 400 is stable, and the positioning mold 310 is not easily displaced.

[0130] like Figures 1 to 3 、 Figure 7 and Figure 14As shown, the anterior midline L1 on the anterior side of the vertebral body 400 divides the anterior side of the vertebral body 400 into a symmetrically arranged anterior left half-surface 421 and an anterior right half-surface 422, and the two endpoints of the anterior midline L1 are the anterior upper endpoint A1 and the anterior lower endpoint A2; the posterior midline L2 on the posterior side of the vertebral body 400 divides the posterior side of the vertebral body 400 into a symmetrically arranged posterior left half-surface 431 and a posterior right half-surface 432, and the two endpoints of the posterior midline L2 are the posterior upper endpoint B1 and the posterior lower endpoint B2; the upper endpoint of the anterior side of the anterior left wall 4111 is the preset left anterior upper cutting point C on the vertebral body 400, and the upper endpoint of the anterior side of the anterior right wall 4121 is the preset right anterior upper cutting point D on the vertebral body 400; the structure of the opening 410 makes the opening 410 easy to cut;

[0131] The line connecting the left front upper cutting point C and the rear upper endpoint B1 is the left upper cutting line L3, and the line connecting the right front upper cutting point D and the rear upper endpoint B1 is the right upper cutting line L4; the line connecting the front upper endpoint A1 and the rear upper endpoint B1 is the vertebral upper midpoint line L5; the angle M between the left upper cutting line L3 and the vertebral upper midpoint line L5 is equal to the angle P between the extension direction of the left guide groove 211 of the intermediate body and the fixing plate 220; the angle N between the right upper cutting line L4 and the vertebral upper midpoint line L5 is equal to the angle Q between the extension direction of the right guide groove 212 of the intermediate body and the fixing plate 220. This structure makes the intermediate mold 2 When the posterior side of 10 is fitted with the anterior side of the vertebral body 400 and the fixing plate 220 is extended into the spacer groove 407, the power cutting tool 100 is inserted from the left guide groove 211 of the middle body of the middle mold body 210, and then the cutting tool is fed from the upper cutting point C on the left front, so that the power cutting tool 100 cuts along the direction of the upper cutting line L3 on the left side, and the first left triangular bone block 403 can be removed; the power cutting tool 100 is inserted from the right guide groove 212 of the middle body of the middle mold body 210, and then the cutting tool is fed from the upper cutting point D on the right front, so that the power cutting tool 100 cuts along the direction of the upper cutting line L4 on the right side, and the first right triangular bone block 404 can be removed.

[0132] like Figures 1 to 3 、 Figures 7 to 14As shown, the vertebral body 400 often has a complex physiological curve. Therefore, the front midline L1 of the vertebral body 400 and the rear midline L2 of the vertebral body 400 are often not in a straight line. In order to accurately control the cutting depth and ensure the safety of the operation, the influence of the outer shape of the vertebral body 400 must be considered before making the intermediate auxiliary mold 200 and the positioning auxiliary mold 300. Since the shape of the center line of the vertical cross-section of the left guide groove 211 of the intermediate body is the same as the shape of the rear midline L2; the shape of the center line of the vertical cross-section of the right guide groove 212 of the intermediate body is the same as the shape of the rear midline L2. The power cutting tool 100 can cut the vertebral body 400 along the left guide groove 211 and the right guide groove 212 of the intermediate body. The shape of the left guide groove 211 and the shape of the right guide groove 212 of the intermediate body can accurately control the cutting direction and depth of the power cutting tool 100.

[0133] When the rear side of the intermediate mold body 210 is in contact with the front side of the vertebral body 400, the length of the line connecting the upper end point G1 of the intermediate left groove of the center line of the vertical cross-section of the front end of the intermediate left guide groove and the upper end point B1 of the rear portion of the vertebral body 400 is the insertion length of the upper end of the left side of the intermediate body; the depth of the upper portion of the left guide groove 211 of the intermediate body plus the length of the upper left cutting line L3 is equal to the insertion length of the upper end of the left side of the intermediate body; the length of the line connecting the lower end point G2 of the intermediate left groove of the center line of the vertical cross-section of the front end of the left guide groove of the intermediate body and the lower end point B2 of the rear portion of the vertebral body 400 is the insertion length of the lower end of the left side of the intermediate body; the insertion length of the upper end of the left side of the intermediate body is equal to the insertion length of the lower end of the left side of the intermediate body;

[0134] The length of the line connecting the upper end point H1 of the middle right groove of the center line of the vertical cross-section of the front end of the right side guide groove of the intermediate body and the upper end point B1 of the rear part of the vertebral body 400 is the insertion length of the upper end of the right side of the intermediate body; the depth of the upper part of the right side guide groove 212 of the intermediate body plus the length of the upper right side cutting line L4 is equal to the insertion length of the upper end of the right side of the intermediate body; the length of the line connecting the lower end point H2 of the middle right groove of the center line of the vertical cross-section of the front end of the right side guide groove of the intermediate body and the lower end point B2 of the rear part of the vertebral body 400 is the insertion length of the lower end of the right side of the intermediate body; the insertion length of the upper end of the right side of the intermediate body is equal to the insertion length of the lower end of the right side of the intermediate body.

[0135] Since the shape of the centerline of the vertical cross-section of the left side guide groove 211 of the intermediate body is the same as the shape of the rear centerline L2, that is, the centerline of the vertical cross-section of the left side guide groove 211 of the intermediate body and the rear centerline L2 have the same curvature; and the insertion length of the upper end of the left side of the intermediate body is equal to the insertion length of the lower end of the left side of the intermediate body, the insertion length of the upper end of the left side of the intermediate body and the insertion length of the lower end of the left side of the intermediate body are the feed depth of the power cutting tool. This will not cause the feed limit of the power cutting tool 100 to exceed the rear side of the vertebral body 400 when it is inserted into the left side guide groove 211 of the intermediate body, and will not cause the power cutting tool 100 to feed too deep or too shallow. The corresponding principle also applies when the power cutting tool 100 is inserted into the right side guide groove 212 of the intermediate body.

[0136] like Figures 15 to 23 As shown, the upper end point of the posterior side of the posterior left wall surface 4112 is the preset left posterior upper cutting point E1 on the vertebral body 400, and the upper end point of the posterior side of the posterior right wall surface 4222 is the preset right posterior upper cutting point F1 on the vertebral body 400;

[0137] The upper endpoint of the centerline of the front notch end face of the second positioning body guide groove 312 is the second front notch upper endpoint J1, the upper endpoint of the centerline of the rear notch end face of the second positioning body guide groove 312 is the second rear notch upper endpoint T1, and the line connecting the second front notch upper endpoint J1 and the second rear notch upper endpoint T1 is the second groove upper end line; the upper endpoint of the centerline of the front notch end face of the first positioning body guide groove 311 is the first front notch upper endpoint K1, the upper endpoint of the centerline of the rear notch end face of the first positioning body guide groove 311 is the first rear notch upper endpoint S1, and the line connecting the first front notch upper endpoint K1 and the first rear notch upper endpoint S1 is the first groove upper end line;

[0138] The upper cutting point E1 of the left rear part is located on the extension line of the line connecting the upper ends of the second grooves; the upper cutting point F1 of the right rear part is located on the extension line of the line connecting the upper ends of the first grooves.

[0139] The posterior side of the positioning mold 310 is fitted with the anterior side of the vertebral body 400, and the fixing block 320 is inserted into the anterior channel; the power cutting tool 100 is inserted from the second positioning body guide groove 312 of the positioning mold 310, so that the power cutting tool 100 cuts along the line connecting the upper end point J1 of the second front groove and the upper cutting point E1 of the left rear part, and the second left triangular block 405 can be cut out; the power cutting tool 100 is inserted from the first positioning body guide groove 311 of the positioning mold 310, so that the power cutting tool 100 cuts along the line connecting the upper end point K1 of the first front groove and the upper cutting point F1 of the right rear part, and the second right triangular block 406 can be cut out; the power cutting tool 100 can stably cut the vertebral body 400 along the first positioning body guide groove 311 and the second positioning body guide groove 312.

[0140] The shape of the rear side of the rear left wall surface 4112 is the same as the centerline of the front notch end surface of the second positioning body guide groove 312; the shape of the rear side of the rear right wall surface 4222 is the same as the centerline of the front notch end surface of the first positioning body guide groove 311. The power cutting tool 100 can cut the vertebral body 400 along the second positioning body guide groove 312 and the first positioning body guide groove 311. The shapes of the second positioning body guide groove 312 and the first positioning body guide groove 311 enable accurate control of the feed direction and depth of the power cutting tool 100.

[0141] When the posterior side of the positioning mold 310 is in contact with the anterior side of the vertebral body 400, the line connecting the upper end point J1 of the second anterior groove and the upper cutting point E1 on the left rear portion is the tool insertion depth at the upper end of the second groove. The sum of the depth of the second positioning body guide groove 312 and the length of the rear left wall surface 4112 in the front-to-back direction is equal to the tool insertion depth at the upper end of the second groove. The line connecting the lower end point J2 of the second anterior groove and the preset lower cutting point E2 on the left rear portion is the tool insertion depth at the lower end of the second groove. The tool insertion depth at the upper end of the second groove is equal to the tool insertion depth at the lower end of the second groove.

[0142] The line connecting the upper endpoint K1 of the first front groove and the upper cutting point F1 on the right rear portion is the tool insertion depth at the upper end of the first groove. The sum of the depth of the first positioning body guide groove 311 and the length of the rear right wall surface 4222 in the front-to-back direction is equal to the tool insertion depth at the upper end of the first groove. The line connecting the lower endpoint K2 of the first front groove and the preset lower cutting point F2 on the right rear portion is the tool insertion depth at the lower end of the first groove. The tool insertion depth at the upper end of the first groove is equal to the tool insertion depth at the lower end of the first groove. This will prevent the power cutting tool 100 from exceeding the feed limit on the rear side of the vertebral body 400 when it is inserted into the second positioning body guide groove 312, and will not cause the power cutting tool 100 to feed too deep or too shallow. The corresponding principle also applies to when the power cutting tool 100 is inserted into the first positioning body guide groove 311.

[0143] like Figure 6 and Figure 24 As shown, the power cutting tool 100 is connected to the robotic arm 800 of the surgical robot, and the robotic arm 800 is connected to the controller 500. The controller 500 controls the power cutting tool 100 to move through the robotic arm 800.

[0144] The cervical corpectomy system also includes a scanning device 600 and a data entry device 700, both of which are connected to a controller 500. The scanning device 600 transmits acquired image data of the vertebral body 400 to the controller 500, and the data entry device 700 transmits acquired position data of the preset opening 410 on the vertebral body 400 to the controller 500. The scanning device 600 is a CT machine.

[0145] The cervical corpectomy system is used in orthopedic surgery involving anterior corpectomy. During the preoperative planning phase, the surgical robot's controller 500 accurately calculates and simulates the five-step cutting path, including the direction and depth of the cut, based on the surgeon's surgical goals and requirements. During the intraoperative phase, the robot's controller 500 controls the movement of the powered cutting tool 100 via the robotic arm 800, guiding the tool's movement to precisely complete the resection.

[0146] The anterior corpectomy method uses a cervical corpectomy system and includes the following steps:

[0147] like Figures 1 to 6 As shown, step 1) image data of the vertebral body 400 is collected by the scanning device 600, and the scanning device 600 transmits the collected image data of the vertebral body 400 to the controller 500. The controller 500 calculates shape information and position information of the anterior midline L1 on the anterior side of the vertebral body 400, and shape information and position information of the posterior midline L2 on the posterior side of the vertebral body 400 based on the acquired image data; the two endpoints of the anterior midline L1 of the vertebral body 400 are the anterior upper endpoint A1 and the anterior lower endpoint A2; the two endpoints of the posterior midline L2 are the posterior upper endpoint B1 and the posterior lower endpoint B2; the anterior upper endpoint A1, the anterior lower endpoint A2, the posterior lower endpoint B2 and the posterior upper endpoint B1 are connected in sequence to form a plane which is a first cutting plane; in this embodiment, the first cutting plane is a sagittal plane;

[0148] After removing the upper and lower intervertebral discs adjacent to the vertebral body 400, the power cutting tool 100 is used to cut the vertebral body 400 along the first cutting plane, dividing the vertebral body 400 into a left half 401 and a right half 402, with a spacing groove 407 between the left half 401 and the right half 402. If the power cutting tool 100 is inserted into the upper end of the vertebral body 400 from the front to the back, the power cutting tool 100 cuts the vertebral body 400 from top to bottom. If the power cutting tool 100 is inserted into the lower end of the vertebral body 400 to be cut from the front to the back, the power cutting tool 100 cuts the vertebral body 400 from bottom to top.

[0149] like Figures 7 to 14 As shown, step 2), the shape information of the front side of the vertebral body 400 is obtained according to the image data of the vertebral body 400 in the controller 500;

[0150] The shape of the posterior side of the intermediate mold body 210 is the same as the shape of the anterior side of the vertebral body 400, so that the posterior side of the intermediate mold body 210 fits the anterior side of the vertebral body 400;

[0151] The staff inputs the hole data of the opening 410 to be set on the vertebral body 400 through the data entry device 700, and the data entry device 700 transmits the hole data of the opening 410 to the controller 500, so that the controller 500 obtains the preset left front upper cutting point C on the vertebral body 400 and the preset right front upper cutting point D on the vertebral body 400; the line connecting the left front upper cutting point C and the rear upper end point B1 is the left upper cutting line L3, and the line connecting the right front upper cutting point D and the rear upper end point B1 is the right upper cutting line L4; the front upper end The line connecting point A1 and the rear upper endpoint B1 is the line connecting the upper midpoints of the vertebral body L5; the intermediate auxiliary mold 200 is designed based on the hole data of the opening 410 obtained from the controller 500; the angle M between the left upper cutting line L3 and the line connecting the upper midpoints of the vertebral body L5 is equal to the angle P between the extension direction of the left guide groove 211 of the intermediate body and the fixing plate 220; the angle N between the right upper cutting line L4 and the line connecting the upper midpoints of the vertebral body L5 is equal to the angle Q between the extension direction of the right guide groove 212 of the intermediate body and the fixing plate 220;

[0152] The posterior side of the middle mold body 210 is fitted with the anterior side of the vertebral body 400, and the fixing plate 220 is inserted into the spacing groove 407; the power cutting tool 100 is inserted from the left guide groove 211 of the middle body of the middle mold body 210, and then the cutting tool is fed from the upper cutting point C on the left front portion, so that the power cutting tool 100 cuts along the direction of the upper cutting line L3 on the left side, thereby removing the first left triangular bone block 403; the power cutting tool 100 is inserted from the right guide groove 212 of the middle body of the middle mold body 210, and then the cutting tool is fed from the upper cutting point D on the right front portion, so that the power cutting tool 100 cuts along the direction of the upper cutting line L4 on the right side, thereby removing the first right triangular bone block 404;

[0153] like Figures 15 to 23 As shown, in step 3), the shape of the posterior side of the positioning phantom 310 is the same as the shape of the anterior side of the vertebral body 400, so that the posterior side of the positioning phantom 310 fits the anterior side of the vertebral body 400;

[0154] The data entry device 700 transmits the hole data of the opening 410 to the controller 500, so that the controller 500 obtains the preset left rear upper cutting point E1 on the vertebral body 400 and the preset right rear upper cutting point F1 on the vertebral body 400; according to the hole data of the opening 410 obtained in the controller 500, the positioning auxiliary mold 300 is designed; the upper end point of the center line of the front notch end face of the second positioning body guide groove 312 is the second front groove upper end point J1, the upper end point of the center line of the rear notch end face of the second positioning body guide groove 312 is the second rear groove upper end point T1, and the second front groove upper end point J1 and the second rear groove upper end point are aligned. The line connecting the points T1 is the line connecting the upper ends of the second grooves; the upper endpoint of the center line of the front groove end face of the first positioning body guide groove 311 is the first front groove upper endpoint K1, the upper endpoint of the center line of the rear groove end face of the first positioning body guide groove 311 is the first rear groove upper endpoint S1, and the line connecting the first front groove upper endpoint K1 and the first rear groove upper endpoint S1 is the first groove upper end line; the left rear upper cutting point E1 is on the extension line of the second groove upper end line; the right rear upper cutting point F1 is on the extension line of the first groove upper end line; the fixed block 320 has the same structure as the preset front channel, and the fixed block 320 and the front channel are clearance-fitted;

[0155] The posterior side of the positioning mold 310 is fitted with the anterior side of the vertebral body 400, and the fixing block 320 is inserted into the anterior channel; the power cutting tool 100 is inserted from the second positioning body guide groove 312 of the positioning mold 310, so that the power cutting tool 100 cuts along the line connecting the upper end point J1 of the second front groove and the upper cutting point E1 of the left rear part, and the second left triangular block 405 can be cut out; the power cutting tool 100 is inserted from the first positioning body guide groove 311 of the positioning mold 310, so that the power cutting tool 100 cuts along the line connecting the upper end point K1 of the first front groove and the upper cutting point F1 of the right rear part, and the second right triangular block 406 can be cut out.

[0156] The present invention provides a precise cervical vertebral subtotal resection system. Compared with the existing anterior vertebral subtotal resection, the anterior vertebral body can be accurately resected according to a preset plan, with less damage to the vertebral body and surrounding tissues, greatly shortening the operation time and achieving better decompression effect.

[0157] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A cervical corpectomy system, characterized in that: include: Power cutting tool (100); The intermediate auxiliary mold (200) comprises an intermediate mold body (210) and a fixing plate (220) connected to the rear side of the intermediate mold body (210); the front side of the intermediate mold body (210) is provided with an intermediate body left guide groove (211) for inserting the power cutting tool (100); the front side of the intermediate mold body (210) is provided with an intermediate body right guide groove (212) for inserting the power cutting tool (100); the intermediate body left guide groove (211) and the intermediate body right guide groove (212) are both connected to the intermediate mold body. the rear side surface of the intermediate mold body (210); the connection between the intermediate mold body (210) and the fixing plate (220) is located between the rear end notch (2111) of the left guide groove of the intermediate body and the rear end notch (2121) of the right guide groove of the intermediate body; the distance between the rear end notch (2111) of the left guide groove of the intermediate body and the rear end notch (2121) of the right guide groove of the intermediate body is smaller than the distance between the front end notch (2112) of the left guide groove of the intermediate body and the front end notch (2122) of the right guide groove of the intermediate body; The positioning auxiliary mold (300) comprises a positioning mold body (310) and a fixed block (320) connected to the rear side of the positioning mold body (310); a first positioning body guide groove (311) for inserting the power cutting tool (100) is provided on the front side of the positioning mold body (310); a second positioning body guide groove (312) for inserting the power cutting tool (100) is provided on the front side of the positioning mold body (310); the first positioning body guide groove (311) and the second positioning body guide groove (312) are both extended to the rear side of the fixed block (320); the first positioning body guide groove (311) and the second positioning body guide groove (312) are arranged in an alternating manner; the front notch (3111) of the first positioning body guide groove is located to the left of the front notch (3121) of the second positioning body guide groove; and the rear notch (3112) of the first positioning body guide groove is located to the right of the rear notch (3122) of the second positioning body guide groove.

2. The cervical corpectomy system according to claim 1, characterized in that: The shape of the posterior side of the intermediate mold (210) is the same as the shape of the anterior side of the vertebral body (400), and the shape of the posterior side of the positioning mold (310) is the same as the shape of the anterior side of the vertebral body (400).

3. The cervical corpectomy system according to claim 2, characterized in that: The invention is used to cut a preset opening portion (410) on the vertebral body (400), wherein the opening portion (410) is passed through along the front-back direction of the vertebral body (400), and the opening portion (410) is passed through along the top-bottom direction of the vertebral body (400), and the opening portion (410) has a left hole wall (411) and a right hole wall (412) opposite to each other; the left hole wall (411) includes a front left wall surface (4111) and a rear left wall surface (4112) arranged in sequence from front to back and connected, and the front left wall surface (4111) is opposite to the vertebral body (400). The rear left wall (4112) is inclined; the right hole wall (412) includes a front right wall (4121) and a rear right wall (4122) which are arranged in sequence from front to back and connected, and the front right wall (4121) is inclined relative to the rear right wall (4122); a front channel is formed between the front left wall (4111) and the front right wall (4121), and the fixing block (320) is inserted into the front channel, and the fixing block (320) and the front channel are clearance-matched.

4. The cervical corpectomy system according to claim 3, characterized in that: The front midline on the front side of the vertebral body (400) divides the front side of the vertebral body (400) into a symmetrically arranged front left half (421) and a front right half (422), and the two endpoints of the front midline are the front upper endpoint and the front lower endpoint; the rear midline on the rear side of the vertebral body (400) divides the rear side of the vertebral body (400) into a symmetrically arranged rear left half (431) and a rear right half (432), and the two endpoints of the rear midline are the rear upper endpoint and the rear lower endpoint; the upper endpoint of the front side of the front left wall (4111) is a preset left front upper cutting point on the vertebral body (400), and the upper endpoint of the front side of the front right wall (4121) is a preset right front upper cutting point on the vertebral body (400); The line connecting the upper cutting point of the left front portion and the upper end point of the rear portion is the upper cutting line of the left side, and the line connecting the upper cutting point of the right front portion and the upper end point of the rear portion is the upper cutting line of the right side; the line connecting the upper end point of the front portion and the upper end point of the rear portion is the line connecting the upper midpoints of the vertebral body (400); the angle between the upper cutting line of the left side and the line connecting the upper midpoints of the vertebral body (400) is equal to the angle between the extension direction of the left guide groove (211) of the intermediate body and the fixing plate (220); the angle between the upper cutting line of the right side and the line connecting the upper midpoints of the vertebral body (400) is equal to the angle between the extension direction of the right guide groove (212) of the intermediate body and the fixing plate (220).

5. The cervical corpectomy system according to claim 4, characterized in that: The shape of the center line of the vertical cross section of the left guide groove (211) of the intermediate body is the same as the shape of the rear center line; the shape of the center line of the vertical cross section of the right guide groove (212) of the intermediate body is the same as the shape of the rear center line.

6. The cervical corpectomy system according to claim 5, characterized in that: When the rear side of the intermediate mold (210) is fitted with the front side of the vertebral body (400), the length of the line connecting the upper end point of the middle left groove of the center line of the vertical cross section of the front end of the intermediate left guide groove (211) and the upper end point of the rear part of the vertebral body (400) is the upper insertion length of the left side of the intermediate body; the depth of the upper part of the left guide groove (211) of the intermediate body plus the length of the upper left cutting line is equal to the upper insertion length of the left side of the intermediate body; the length of the line connecting the lower end point of the middle left groove of the center line of the vertical cross section of the front end of the left guide groove (211) of the intermediate body and the lower end point of the rear part of the vertebral body (400) is the lower insertion length of the left side of the intermediate body; the upper insertion length of the left side of the intermediate body is equal to the lower insertion length of the left side of the intermediate body; The length of the line connecting the upper end point of the middle right groove of the center line of the vertical cross section of the front end of the middle body right guide groove (212) and the upper end point of the rear part of the vertebral body (400) is the insertion length of the upper end of the middle body right side; the depth of the upper part of the middle body right guide groove (212) plus the length of the upper right cutting line is equal to the insertion length of the upper end of the middle body right side; the length of the line connecting the lower end point of the middle right groove of the center line of the vertical cross section of the front end of the middle body right guide groove (212) and the lower end point of the rear part of the vertebral body (400) is the insertion length of the lower end of the middle body right side; the insertion length of the upper end of the middle body right side is equal to the insertion length of the lower end of the middle body right side.

7. The cervical corpectomy system according to claim 3, characterized in that: The upper endpoint of the rear side edge of the rear left wall surface (4112) is the preset left rear upper cutting point on the vertebral body (400), and the upper endpoint of the rear side edge of the rear right wall surface (4122) is the preset right rear upper cutting point on the vertebral body (400); the upper endpoint of the center line of the front notch end surface of the second positioning body guide groove (312) is the second front groove upper endpoint, the upper endpoint of the center line of the rear notch end surface of the second positioning body guide groove (312) is the second rear groove upper endpoint, and the line connecting the second front groove upper endpoint and the second rear groove upper endpoint is the second groove upper end line; the upper endpoint of the center line of the front notch end surface of the first positioning body guide groove (311) is the first front groove upper endpoint, the upper endpoint of the center line of the rear notch end surface of the first positioning body guide groove (311) is the first rear groove upper endpoint, and the line connecting the first front groove upper endpoint and the first rear groove upper endpoint is the first groove upper end line; The upper cutting point of the left rear portion is located on the extension line of the line connecting the upper ends of the second grooves; the upper cutting point of the right rear portion is located on the extension line of the line connecting the upper ends of the first grooves.

8. The cervical corpectomy system according to claim 7, characterized in that: The shape of the rear side edge of the rear left wall surface (4112) is the same as the shape of the center line of the front notch end surface of the second positioning body guide groove (312); the shape of the rear side edge of the rear right wall surface (4122) is the same as the shape of the center line of the front notch end surface of the first positioning body guide groove (311).

9. The cervical corpectomy system according to claim 1, characterized in that: The power cutting tool (100) is connected to a robotic arm (800) of a surgical robot, and the robotic arm is connected to a controller (500).

10. The cervical corpectomy system according to claim 9, characterized in that: The system further comprises a scanning device (600) and a data entry device (700), both of which are connected to the controller (500); the scanning device (600) transmits the acquired image data of the vertebral body (400) to the controller (500); and the data entry device (700) transmits the acquired position data of the preset opening (410) on the vertebral body (400) to the controller (500).

Images