Optical target fixation assembly

Abstract

This invention discloses an optical target fixation assembly, relating to the field of orthopedic surgery. The optical target fixation assembly includes: an orthopedic screw, the orthopedic screw comprising: a shank with a first thread and a screw head, the screw head having a mounting hole extending along its own axis and at least one first groove extending along its own circumferential direction, the first groove communicating with the mounting hole; and an optical target mechanism, the optical target mechanism being detachably connected to the orthopedic screw through the mounting hole. This application solves the problem that the optical target cannot be easily removed from the bone pin, and also solves the problem that the orthopedic screw is easily dislodged when installed or removed using tools.

Description

Technical Field

[0001] This invention relates to the field of orthopedic surgery, and in particular to an optical target fixation component. Background Technology

[0002] During orthopedic surgery using a surgical robot, an optical target needs to be placed at the surgical site on the human skeleton. The optical signal reflected from the target allows for precise positioning of the bone at the surgical site, ensuring the smooth progress of the surgery.

[0003] In current surgical procedures, two to three bone pins are typically inserted directly into the bone, with the ends of the pins secured using a splint-type fixation component to fix the optical target to the bone. However, this method of fixing the optical target occupies a large space, and the optical target cannot be removed during surgery because once removed, it cannot be accurately reinstalled in its original position and orientation. For example, in hip replacement surgery, the femoral optical target is usually fixed to the femur through the surgical incision. Due to the needs of the surgical procedure, after bone registration and alignment, the femoral optical target needs to be removed for osteotomy. After the prosthesis is installed, the femoral optical target needs to be reinstalled to verify the prosthesis installation effect. On the other hand, existing conventional orthopedic screws cannot be held in place with tools to prevent them from falling out. For example, in hip replacement surgery, the surgical incision is small and deep, and the space is confined. Ordinary orthopedic screws are prone to falling out when installed and removed with tools, and once they fall into the incision, they are difficult to find and remove. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide an optical target fixation component, which can solve the problem that the optical target cannot be removed from the bone needle at any time, and can also solve the problem that orthopedic screws are easy to fall off when they are installed or removed by the installation and removal tools.

[0005] The specific technical solution of this invention is as follows:

[0006] An optical target fixing assembly, the optical target fixing assembly comprising:

[0007] An orthopedic screw, comprising: a shank having a first thread and a screw body having a screw head, the screw head having a mounting hole extending along its own axis and at least one first groove extending along its own circumferential direction, the first groove communicating with the mounting hole; and

[0008] An optical target mechanism is provided, wherein the optical target mechanism is detachably connected to the orthopedic screw through the mounting hole.

[0009] Preferably, the optical target mechanism includes: a support rod and an optical target mounted on the support rod; one end of the support rod is screwed into the mounting hole by a threaded connection; or, one end of the support rod is installed in the mounting hole by an insertion connection; or, one end of the support rod is installed in the mounting hole by a magnetic attraction.

[0010] Preferably, the end face of the screw head has a groove extending in its circumferential direction.

[0011] Preferably, an elastic element is provided in the groove; a limiting protrusion is provided on the side wall of the support rod; when one end of the support rod is installed in the mounting hole, the limiting protrusion abuts against the elastic element.

[0012] Preferably, the support rod has a limiting protrusion that protrudes along the axial direction of the support rod and can enter the groove; when one end of the support rod is installed in the mounting hole, the limiting protrusion enters the groove.

[0013] Preferably, the screw head has at least one second groove extending in its own radial direction, the second groove intersecting the mounting hole and the first groove.

[0014] Preferably, the second groove is connected to the middle of the first groove, and the two ends of the first groove have limiting notches extending in the opposite direction to the rod.

[0015] Preferably, there are two second grooves and two first grooves, and the two second grooves and the two first grooves are symmetrically arranged with respect to the axis of the screw head.

[0016] Preferably, the orthopedic screw includes: a washer that can be fitted onto the screw body, the washer having a first end face and a second end face facing away from each other, the second end face facing the rod body, the second end face having at least one resistance-increasing portion, the screw body having a limiting portion that can abut against the first end face to limit the washer.

[0017] Preferably, the screw body has an annular recess and an annular protrusion, the annular recess being located between the limiting portion and the annular protrusion; the inner wall of the washer can be embedded in the annular recess, and when the limiting portion abuts against the first end face, the resistance-increasing portion extends beyond the end face of the annular protrusion facing the rod.

[0018] Preferably, the inner wall of the gasket embedded in the annular recess has a second thread, and the outer wall of the annular protrusion has a third thread that can cooperate with the second thread; the rotation direction of the first thread is opposite to that of the second thread.

[0019] Preferably, the limiting portion has a plurality of first toothed protrusions arranged circumferentially on the end face facing the gasket, and the first end face has a plurality of second toothed protrusions arranged circumferentially that can cooperate with the first toothed protrusions.

[0020] Preferably, the optical target fixing assembly further includes: an installation wrench for removing and installing the orthopedic screw, the installation wrench including: an installation interface, the installation interface including a rotating rod and a limiting rod connected to the side wall of the rotating rod and extending radially along the rotating rod; the rotating rod can be inserted into the installation hole, and the limiting rod can match the first groove to drive the orthopedic screw to rotate.

[0021] The technical solution of the present invention has the following significant beneficial effects:

[0022] 1. The orthopedic screw in the optical target fixation assembly of this application can be installed on human bones, and the optical target mechanism can be detachably connected to the orthopedic screw through the mounting hole in the screw head. Therefore, the orthopedic screw can be fixed to the bone throughout the entire surgical procedure without removal, while the optical target mechanism can be installed and removed as needed during the operation to free up surgical space.

[0023] 2. When orthopedic screws need to be screwed into or unscrewed from human bone, the mounting hole allows the rotating rod of the installation wrench to be inserted, enabling the limiting rod of the installation wrench to enter the first groove through the second groove. The operator can then rotate the installation wrench as needed to screw the orthopedic screw into or unscrew it from the human bone. Because the limiting rod is located in the first groove, the orthopedic screw will not easily detach from the limiting rod. This reduces the possibility of the orthopedic screw detaching from the installation wrench when starting to screw it into or completely unscrewing it from the human bone, lowering the likelihood of the screw falling into the incision. It also eliminates the need for the operator to manually hold the screw, improving the efficiency, safety, and reliability of the surgery.

[0024] Specific embodiments of the invention are disclosed in detail below with reference to the description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the invention are not therefore limited in scope. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0025] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, can select various possible shapes and proportions to implement the invention according to specific circumstances.

[0026] Figure 1 This is a three-dimensional structural diagram of the orthopedic screw in an embodiment of the present invention;

[0027] Figure 2 This is a three-dimensional structural diagram of the orthopedic screw from another angle in an embodiment of the present invention;

[0028] Figure 3 This is a front view of the orthopedic screw in an embodiment of the present invention;

[0029] Figure 4 This is a side view of the orthopedic screw in an embodiment of the present invention;

[0030] Figure 5 This is a cross-sectional view of the orthopedic screw in an embodiment of the present invention;

[0031] Figure 6 This is a three-dimensional structural diagram of the screw body in an embodiment of the present invention;

[0032] Figure 7 This is a three-dimensional structural diagram of the screw body from another angle in an embodiment of the present invention;

[0033] Figure 8 This is a three-dimensional structural diagram of the gasket in an embodiment of the present invention;

[0034] Figure 9 This is a three-dimensional structural diagram of the gasket from another angle in an embodiment of the present invention;

[0035] Figure 10 This is a three-dimensional structural diagram of the screw body in another embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure for installing the wrench in an embodiment of the present invention;

[0037] Figure 12 This is a partially enlarged schematic diagram of the wrench installation in an embodiment of the present invention;

[0038] Figure 13 This is a schematic diagram illustrating the installation of orthopedic screws using an installation wrench in an embodiment of the present invention;

[0039] Figure 14 This is a schematic diagram illustrating the process of installing a wrench to remove orthopedic screws in an embodiment of the present invention;

[0040] Figure 15 This is a schematic diagram of the optical target fixing component in the first embodiment of the present invention;

[0041] Figure 16 This is a schematic diagram of the optical target fixing component in a second embodiment of the present invention;

[0042] Figure 17 This is a schematic diagram of the optical target fixing component in a third embodiment of the present invention;

[0043] Figure 18 This is a schematic diagram of the optical target fixing component in the fourth embodiment of the present invention;

[0044] Figure 19 This is a cross-sectional view of the connection between the support rod and the orthopedic screw in an embodiment of the present invention;

[0045] Figure 20 This is a schematic diagram of orthopedic screws installed on the femur in an embodiment of the present invention;

[0046] Figure 21 This is a schematic diagram of the optical target fixation component installed on the femur in an embodiment of the present invention. Detailed Implementation

[0047] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0049] To address the issues of optical targets not being easily detachable from bone pins and orthopedic screws easily detaching from the bone during installation or removal using tools, this application proposes an optical target fixation component, such as... Figures 1 to 10 , Figures 13 to 19 As shown, the optical target fixation assembly may include an orthopedic screw 1 and an optical target mechanism. The orthopedic screw 1 may include a screw body 11. The screw body 11 includes a shank 111 with a first thread 1111 and a screw head 112. The shank 111 with the first thread 1111 is used to screw into a human skeleton 100, and the screw head 112 protrudes from the human skeleton 100. The screw head 112 is used by an operator to manipulate the orthopedic screw 1 for installation and removal from the human skeleton 100.

[0050] As a feasible option, such as Figures 1 to 7 , Figure 20 and Figure 21 As shown, the top of the rod 111 may have a self-tapping head 1112, which facilitates the insertion of the orthopedic screw 1 into the human bone 100. Alternatively, the first thread 1111 can be a cancellous bone thread, a cortical bone thread, or a combination of segments of cancellous bone and cortical bone threads. Of course, the first thread 1111 can be a left-hand thread or a right-hand thread, depending on the specific needs.

[0051] like Figures 1 to 7 , Figure 21 As shown, the screw head 112 of the screw body 11 of the orthopedic screw 1 is used for a detachable connection with an optical target mechanism. The screw head 112 may have a mounting hole 1121 extending along its own axis, which is used for the detachable connection with the optical target mechanism. The optical target mechanism may include a support rod 2 and an optical target 3 mounted on the support rod 2. One end of the support rod 2 can be detachably connected to the mounting hole 1121 of the screw head 112 in various ways. For example, as... Figure 19As shown, the mounting hole 1121 has an internal thread, and one end of the support rod 2 has an external thread. One end of the support rod 2 is screwed into the mounting hole 1121 via a threaded connection. Alternatively, one end of the support rod 2 can be inserted into the mounting hole 1121. To ensure that the support rod 2 does not easily detach after being inserted into the mounting hole 1121, the inner wall of the mounting hole 1121 and / or the outer wall of the support rod 2 can have a snap-fit ​​structure or a resistance-increasing structure. When the support rod 2 needs to be removed from the mounting hole 1121, some force is required to pull it out. To ensure the relative angle between the support rod 2 and the mounting hole 1121, the radial cross-sections of the mounting hole 1121 and one end of the support rod 2 can be designed as non-centrally symmetrical structures. This ensures a fixed relative angle when the support rod 2 is inserted into the mounting hole 1121. For example, one end of the support rod 2 can be magnetically installed in the mounting hole 1121. One end of the support rod 2 is magnetic, and the inner wall of the mounting hole 1121 is also magnetic. When one end of the support rod 2 is installed in the mounting hole 1121, the two are fixed by magnetic attraction. When it is necessary to remove one end of the support rod 2, simply pull it out of the mounting hole 1121. Similarly, to ensure the relative angle between the support rod 2 and the mounting hole 1121, the radial cross-sections of the mounting hole 1121 and one end of the support rod 2 can be designed as non-centrally symmetrical structures. These methods can achieve a detachable connection between one end of the support rod 2 and the mounting hole 1121, thus enabling the support rod 2 to be installed and removed during surgery. Additionally, it ensures the firmness of the connection between the support rod 2 and the orthopedic screw 1. In the above structure, as... Figure 20 As shown, the orthopedic screw 1 can be fixed to the human bone 100 throughout the entire surgical procedure without removal. The optical target 3 and the support rod 2 can be disassembled or installed during the operation to free up surgical space. Moreover, after repeated installation, the position and orientation of the optical target can remain consistent with the previous one.

[0052] To facilitate the operator in screwing the orthopedic screw 1 into or out of the human bone 100, such as Figures 1 to 7 As shown, the screw head 112 has at least one first groove 1123 extending in its circumferential direction. The first groove 1123 communicates with the mounting hole 1121. Specifically, in the radial direction of the screw head 112, the inner side of the first groove 1123 communicates with the mounting hole 1121 in the middle of the screw head 112.

[0053] like Figure 11 and Figure 12As shown, the optical target fixing assembly may include: an installation wrench for removing and installing the orthopedic screw 1. The installation wrench 7 is used to screw the orthopedic screw 1 into or out of the human skeleton 100. The installation wrench 7 may include a handle 71, an installation interface 73, and a connecting rod 72 connecting the handle 71 and the installation interface 73. The installation interface 73 may include a rotating rod body 731 and a limiting rod 732 extending radially along the rotating rod body 731 and connected to the side wall of the rotating rod body 731. The number and position of the limiting rods 732 may match the number and position of the first groove 1123. When the orthopedic screw 1 is screwed into or out of the human skeleton 100, as... Figure 13 and Figure 14 As shown, the rotating rod 731 is inserted into the mounting hole 1121. Simultaneously, the limiting rod 732 extends into the first groove 1123, thus matching the first groove 1123. Afterward, the operator can rotate the installation wrench 7 as needed, causing the orthopedic screw to rotate, thereby screwing the orthopedic screw 1 into or out of the human bone 100. Because the limiting rod 732 is located in the first groove 1123, the orthopedic screw 1 will not easily detach from the limiting rod 732. This reduces the possibility of the orthopedic screw 1 detaching from the installation wrench 7 when it begins to be screwed into or completely removed from the human bone 100, lowering the likelihood of the orthopedic screw 1 falling into the incision. It also avoids the need for the operator to hold the orthopedic screw 1 by hand, improving the efficiency, safety, and reliability of the surgery.

[0054] Furthermore, in order to make it easier for the limiting rod 732 to extend into the first groove 1123, and to extend the length of the limiting rod 732 so as to make it easier for the wrench 7 to drive the orthopedic screw 1 to rotate, the screw head 112 also has at least one second groove 1122 extending in its own radial direction. The second groove 1122 extends from the axis of the screw head 112 in the radial direction of the screw head 112. One end of the second groove 1122 intersects with the mounting hole 1121 in the middle of the screw head 112. The other end of the second groove 1122 can penetrate the side wall of the screw head 112 or not penetrate the side wall of the screw head 112. In the above structure, the limiting rod 732 can first enter the second groove 1122. After the limiting rod 732 enters the intersection of the second groove 1122 and the first groove 1123, the operator can rotate the handle 71 to make the limiting rod 732 rotate into the first groove 1123. At this time, the installation wrench 7 and the orthopedic screw 1 are engaged. Afterwards, the operator can rotate the installation wrench 7 as needed to drive the orthopedic screw to rotate, thereby screwing the orthopedic screw 1 into or out of the human bone 100.

[0055] Furthermore, such as Figures 1 to 7 As shown, there can be two second grooves 1122 and two first grooves 1123. The two second grooves 1122 are symmetrically arranged with respect to the axis of the screw head 112, and the two first grooves 1123 are symmetrically arranged with respect to the axis of the screw head 112, and can be located on the diameter of the orthopedic screw 1. Correspondingly, as... Figure 11 and Figure 12 As shown, there are also two limiting rods 732 on the installation wrench 7, symmetrically arranged relative to the rotating rod 731, so that the two limiting rods 732 are on the same straight line. Figures 1 to 7 , Figure 20 and Figure 21 As shown, when the two limiting rods 732 of the installation wrench 7 enter the two first grooves 1123 of the orthopedic screw 1 respectively, and the orthopedic screw 1 is screwed into or out of the human bone 100, the rotational engagement process between the installation wrench 7 and the orthopedic screw 1 is more stable, and the rotational torque applied by the installation wrench 7 to the orthopedic screw 1 is more balanced.

[0056] Furthermore, such as Figures 1 to 7 , Figure 20 and Figure 21 As shown, the second groove 1122 intersects the middle of the first groove 1123. This allows the limiting rod 732 of the wrench 7 to always be positioned within the first groove 1123 of the orthopedic screw 1 when it is being screwed into or out of the human skeleton 100. For example, it can be positioned at one end of the first groove 1123 when the orthopedic screw 1 is being screwed into the human skeleton 100, and at the other end when the orthopedic screw 1 is being unscrewed from the human skeleton 100. The two ends of the first groove 1123 each have limiting notches 11231 extending in the direction opposite to the rod 111.

[0057] With the above structure, when the orthopedic screw 1 is screwed into or out of the human bone 100, the limiting rod 732 of the installation wrench 7 can enter the limiting notch 11231 in the first groove 1123. In this way, the orthopedic screw 1 cannot be easily rotated on the installation wrench 7, and the orthopedic screw 1 is more difficult to detach from the installation interface 73 of the installation wrench 7, further reducing the possibility that the orthopedic screw 1 will fall into the human incision during the operation.

[0058] like Figure 1 , Figure 5 and Figure 7As shown, the end face of the screw head 112 facing away from the shank 111 may have a groove 1124 extending in its circumferential direction, and this end face is the end face facing away from the shank 111. An elastic element 11241 may be provided in the groove 1124. The elastic element 11241 is slightly higher than the end face of the screw head 112. There may be one or multiple grooves 1124 arranged circumferentially. The elastic element 11241 may be made of an elastic material capable of compressive deformation. For example... Figure 19 As shown, the side wall of the support rod 2, into which the orthopedic screw 1 is screwed, may have a limiting protrusion 21, which may be located along the entire circumferential direction of the side wall of the support rod 2. When the support rod 2 is screwed into the orthopedic screw 1, the elastic element 11241 is compressed and deformed by the limiting protrusion 21, and the limiting protrusion 21 eventually contacts the end face of the screw head 112. Due to the increased pressure between the elastic element 11241 and the limiting protrusion 21, the static friction between the two increases, making it difficult for the support rod 2 to rotate in the circumferential direction. Thus, the elastic element 11241 can prevent the support rod 2 from loosening from the orthopedic screw 1. On the other hand, due to the presence of the elastic element 11241, when performing surgical procedures that generate vibration in the human skeleton, the elastic element 11241 can reduce the degree of vibration transmitted from the orthopedic screw 1 to the optical target mechanism, thereby reducing the possibility of changes in the posture of the optical target mechanism.

[0059] In another embodiment, the support rod 2 has a limiting protrusion that protrudes along the axial direction of the support rod 2 and can enter the groove 1124. When one end of the support rod 2 is installed in the mounting hole 1121, as the support rod 2 rotates, the limiting protrusion enters the groove 1124, thereby achieving positioning between the support rod 2 and the screw head 112. Simultaneously, due to the presence of the limiting protrusion, the support rod 2 is less likely to rotate in the circumferential direction, thus preventing the support rod 2 from loosening from the orthopedic screw 1. In other feasible embodiments, such as... Figure 10 As shown, the end face of the screw head 112 facing away from the rod body 111 may also not have a groove 1124 extending in its circumferential direction.

[0060] Optical positioning marks 6 are mounted on the optical target 3. Specifically, such as... Figures 15 to 17 As shown, the optical target 3 may have multiple optical positioning marks 6. Each optical positioning mark 6 includes at least one of the following: a passive infrared reflective sphere 61, a retroreflective spherical lens 62, or a planar reflective film 63. The positions and distances between the multiple optical positioning marks 6 on the optical target 3 can exhibit a certain relationship to facilitate optical positioning.

[0061] The relative attitude between the optical target 3 and the support rod 2 can be adjusted. In one feasible implementation, such as Figure 18As shown, the optical target 3 and the support rod 2 are connected by a ball joint structure 4. The optical target fixing assembly also includes a first locking member 41 for locking and fixing the optical target 3 and the support rod 2. Specifically, the optical target 3 may have an adjustment rod, which is connected to the support rod 2 by the ball joint structure 4. The ball joint structure 4 may have three degrees of freedom of adjustment, namely pitch, yaw, and roll. After the adjustment is completed, the first locking member 41 can be locked, so that the adjustment rod and the support rod 2 can no longer rotate through the ball joint structure 4.

[0062] In another feasible implementation, such as Figures 15 to 17 As shown, the optical target 3 and the support rod 2 can be connected via a direction adjustment mechanism 5. The direction adjustment mechanism 5 can rotate and lock around the axis of the support rod 2. The direction adjustment mechanism 5 has a horizontal rod 51 perpendicular to the support rod 2. The optical target 3 is connected to the horizontal rod 51 and can rotate and lock around the axis of the horizontal rod 51. This structure allows for adjustment of two degrees of freedom. Specifically, the direction adjustment mechanism 5 includes a rotating component, a second locking component 52, and a third locking component 53. The rotating component can be sleeved on the support rod 2 and can rotate around the axis of the support rod 2. The second locking component 52 can be used to lock the rotating component to the support rod 2. When the second locking component 52 is tightened, the rotating component and the support rod 2 are locked and cannot rotate relative to each other. When the second locking component 52 is loosened, the rotating component and the support rod 2 can rotate relative to each other for adjustment. The rotating component has a horizontal rod 51. The optical target 3 may have an adjusting rod, which can be fitted onto the horizontal rod 51 and rotate around the horizontal rod 51. A third locking member 53 can be used to lock the adjusting rod to the horizontal rod 51. When the third locking member 53 is tightened, the adjusting rod and the horizontal rod 51 are locked and cannot rotate relative to each other. When the third locking member 53 is loosened, the adjusting rod and the horizontal rod 51 can rotate relative to each other for adjustment. This structure allows for adjustment in two degrees of freedom. Furthermore, if the adjusting rod can rotate around its own axis, the direction adjustment mechanism 5 can also achieve adjustment in three degrees of freedom.

[0063] The process of using the optical target fixing component can be as follows: Figure 20 As shown, first use the installation wrench 7 to screw the orthopedic screw 1 into the human bone 100 for installation, then proceed as follows: Figure 21As shown, the lower end of the support rod 2 is screwed into the mounting hole 1121 of the orthopedic screw 1, and then the optical target is connected to the upper end of the support rod 2. Afterwards, the optical positioning mark 6 is installed onto the optical target 3. Through this process, the optical target is rigidly connected to the human skeleton 100. The attitude of the optical target 3 can be adjusted by the direction adjustment mechanism 5 or the ball joint structure 4, thereby enabling the optical target 3 to be recognized by the optical navigation device.

[0064] If, during the surgery, it is necessary to remove the optical target 3 from the human skeleton 100 to free up surgical space for operation, simply rotate the support rod 2 to remove it from the mounting hole 1121 of the orthopedic screw 1. If the optical target 3 needs to be reattached to the human skeleton 100 afterward, simply rotate the support rod 2 to insert it into the mounting hole 1121.

[0065] Alternatively, the orthopedic screw 1 may include a washer 12 that can be fitted over the screw body 11. The screw body 11 and the washer 12 can be assembled together or disassembled and assembled together during use. The washer 12 can be of various shapes, as long as it can fit onto the screw body 11, such as fitting onto the shaft 111 of the screw body 11. The washer 12 has a first end face 121 and a second end face 122 facing away from each other. When the screw body 11 and the washer 12 are assembled together, the second end face 122 faces the shaft 111, and the first end face 121 faces the screw head 112. The second end face 122 has at least one resistance-increasing portion 1221. There can be multiple resistance-increasing portions 1221, which can be circumferentially distributed around the axis of the washer 12.

[0066] like Figures 1 to 7 As shown, the screw body 11 has a limiting portion 113 facing the top end of the shank 111. When the screw body 11 and the washer 12 are assembled together, the limiting portion 113 can abut against the first end face 121 to limit the washer 12, thereby preventing the washer 12 from detaching from the screw body 11 at one end of the screw head 112. Figure 20As shown, when the orthopedic screw 1 is installed on the human skeleton 100, the washer 12 contacts the human skeleton 100. The two are positioned by the resistance increase part 1221 to prevent the washer 12 from rotating. During the process of screwing the rod 111 into the human bone 100, the limiting part 113 abuts against the first end face 121 to limit the spacer 12 and applies pressure to the spacer 12 in the direction of the human bone 100, thereby making the spacer 12 press against the human bone 100. By increasing the pressure between the spacer 12 and the human bone 100, the resistance between the two is further increased, so that the spacer 12 firmly grips the surface of the human bone 100 and is better positioned with the human bone 100, preventing the spacer 12 from rotating. The spacer 12 can also be stably set on the human bone 100. Finally, the screw body 11 is screwed into the human bone 100 and can stably and firmly abut against the spacer 12, without swaying left and right or loosening easily. The entire orthopedic screw 1 is firmly fixed on the human bone 100, so that the optical target 3 can be connected to the orthopedic screw 1 later through the support rod 2, ensuring that the entire surgical process is safer and more reliable.

[0067] Since the orthopedic screw 1 in this application can be firmly connected to the human bone 100, the number of connection structures such as bone pins that originally required 2 to 3 to connect to the human bone 100 in the prior art is reduced to 1. This achieves the effect of the orthopedic screw 1 occupying less space on the surface of the human bone 100, and at the same time, it can also make the entire optical target fixation component occupy less surgical space in the later stage.

[0068] To further increase the friction between the resistance-enhancing part 1221 and the human skeleton 100, such as Figure 8 As shown, the resistance-increasing part 1221 can be in the form of a spike. The shape of the spike can be conical, a combination of a cone and a cylinder, or a pyramid, etc. No limitation is made in this application.

[0069] like Figure 5As shown, the screw body 11 has an annular recess 114 and an annular protrusion 115. The annular recess 114 is located between the limiting portion 113 and the annular protrusion 115. The inner wall of the washer 12 can be embedded in the annular recess 114. The annular protrusion 115 can limit the inner wall of the washer 12 embedded in the annular recess 114, thereby preventing the washer 12 from detaching from the screw body 11 through the annular protrusion 115. In this way, the washer 12 is not easy to detach from the screw body 11, thereby preventing the washer 12 from falling into the human incision during the installation or removal of the orthopedic screw 1, thus improving the efficiency of the operation. When the limiting portion 113 abuts against the first end face 121, the resistance increasing portion 1221 extends beyond the end face of the annular protrusion 115 facing the rod body 111, thereby ensuring that when the orthopedic screw 1 is screwed into the human bone 100, the resistance increasing portion 1221 can contact the human bone 100 to increase resistance for positioning.

[0070] Furthermore, such as Figure 5 As shown, the inner wall of the washer 12 embedded in the annular recess 114 may have a second thread 123, and the outer wall of the annular protrusion 115 may have a third thread 1151 that mates with the second thread 123. The washer 12 may include a first portion washer 12 and a second portion washer 12 in the axial direction. The inner diameter of the first portion washer 12 is smaller than the inner diameter of the second portion washer 12. The inner wall of the first portion washer 12 is embedded in the annular recess 114. The inner wall of the first portion washer 12 has a second thread 123. The inner diameter of the second portion washer 12 is larger than the outer diameter of the annular protrusion 115. When the washer 12 needs to be embedded in the annular recess 114, the washer 12 can be slipped onto the rod 111, and then screwed into the third thread 1151 of the annular protrusion 115 through the second thread 123 of the washer 12, thereby allowing the first portion washer 12 to be embedded in the annular recess 114 through the annular protrusion 115. The above method allows the washer 12 to be installed on the screw body 11 without easily falling off. The rotation directions of the first thread 1111 and the second thread 123 can be opposite. With this design, when the screw body 11 is unscrewed from the human skeleton 100, the screw body 11 will not rotate out of the washer 12, thus preventing the screw body 11 from separating from the washer 12 and preventing the washer 12 from falling into the human incision.

[0071] As a feasible option, such as Figure 6 As shown, the limiting portion 113 has a plurality of first tooth-shaped protrusions 1131 arranged circumferentially on the end face of the gasket 12, such as Figure 9As shown, the first end face 121 has a plurality of second toothed bosses 1211 arranged circumferentially to engage with the first toothed boss 1131. A limiting portion 113 can be formed on the lower end face of the screw head 112 facing the rod body 111. When the washer 12 abuts against the limiting portion 113, the first toothed bosses 1131 can engage with the second toothed bosses 1211 to lock in place. The cross-section of the toothed bosses in the circumferential direction of the washer 12 can be rectangular, trapezoidal, triangular, semi-circular, arc-shaped, etc., and is not specifically limited in this application. When the orthopedic screw 1 is screwed into the human bone 100, until the resistance-increasing portion 1221 of the washer 12 contacts and presses against the human bone 100, the washer 12 stops rotating. Then, the first toothed boss 1131 of the limiting portion 113 and the second toothed bosses 1211 of the washer 12 engage with each other, producing a "click-click" sound and vibration, indicating that the orthopedic screw 1 is installed in place. With the orthopedic screw 1 installed on the human bone 100, the toothed boss can effectively increase the friction between the screw body 11 and the washer 12, preventing the screw body 11 from loosening from the washer 12.

[0072] This application also discloses an orthopedic robot, comprising: a navigation carriage, a robotic arm carriage, a robotic arm, an optical navigation and positioning device, a computer, and any of the aforementioned optical target fixing components. The optical navigation and positioning device is mounted on the navigation carriage, and the robotic arm is mounted on the robotic arm carriage. A communication cable connects the optical navigation and positioning device, the navigation carriage, the robotic arm, and the robotic arm carriage. Orthopedic screws 1 are used to fix an optical target 3 to a human skeleton 100. The optical target 3 is equipped with optical positioning markers 6, which reflect ambient light to the optical navigation and positioning device to position the human skeleton 100 to which the optical target fixing component is connected.

[0073] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified element, component, part, or step, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute “may” include is optional. Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The disclosure of “a” or “an” used to describe an element, component, part, or step does not imply exclusion of other elements, components, parts, or steps.

[0074] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An optical target fixing assembly, characterized in that, The optical target fixing assembly includes: An orthopedic screw, comprising: a screw body, the screw body including a shank with a first thread and a screw head, the screw head having a mounting hole extending along its own axis, at least one first groove extending along its own circumferential direction, and at least one second groove extending along its own radial direction, the second groove intersecting the mounting hole, the second groove intersecting the middle portion of the first groove, the first groove communicating with the mounting hole, such that a limiting rod of an installation wrench can enter the first groove through the second groove, driving the orthopedic screw to rotate, thereby screwing the orthopedic screw into or out of the human bone; and An optical target mechanism is provided, wherein the optical target mechanism is detachably connected to the orthopedic screw through the mounting hole.

2. The optical target fixing assembly according to claim 1, characterized in that, The optical target mechanism includes: a support rod and an optical target mounted on the support rod; one end of the support rod is screwed into the mounting hole by a threaded connection; or, one end of the support rod is installed in the mounting hole by an insertion connection; or, one end of the support rod is installed in the mounting hole by a magnetic attraction.

3. The optical target fixing assembly according to claim 2, characterized in that, The end face of the screw head has a groove extending in its circumferential direction.

4. The optical target fixing assembly according to claim 3, characterized in that, An elastic element is provided in the groove; a limiting protrusion is provided on the side wall of the support rod; when one end of the support rod is installed in the mounting hole, the limiting protrusion abuts against the elastic element.

5. The optical target fixing assembly according to claim 3, characterized in that, The support rod has a limiting protrusion that protrudes along the axial direction of the support rod and can enter the groove; when one end of the support rod is installed in the mounting hole, the limiting protrusion enters the groove.

6. The optical target fixing assembly according to claim 1, characterized in that, In the radial direction of the screw head, the inner side of the first groove is connected to the mounting hole in the middle of the screw head.

7. The optical target fixing assembly according to claim 1, characterized in that, The first groove has limiting notches at both ends that extend in the opposite direction to the rod.

8. The optical target fixing assembly according to claim 6, characterized in that, There are two second grooves and two first grooves, with the two second grooves symmetrically arranged with respect to the axis of the screw head and the two first grooves symmetrically arranged with respect to the axis of the screw head.

9. The optical target fixing assembly according to claim 1, characterized in that, The orthopedic screw includes: a washer that can be fitted onto the screw body, the washer having a first end face and a second end face facing away from each other, the second end face facing the rod body, the second end face having at least one resistance-increasing portion, the screw body having a limiting portion that can abut against the first end face to limit the washer.

10. The optical target fixing assembly according to claim 9, characterized in that, The screw body has an annular recess and an annular protrusion, the annular recess being located between the limiting portion and the annular protrusion; the inner wall of the washer can be embedded in the annular recess, and when the limiting portion abuts against the first end face, the resistance-increasing portion extends beyond the end face of the annular protrusion facing the rod.

11. The optical target fixing assembly according to claim 10, characterized in that, The inner wall of the gasket embedded in the annular recess has a second thread, and the outer wall of the annular protrusion has a third thread that can mate with the second thread; the rotation direction of the first thread is opposite to that of the second thread.

12. The optical target fixing assembly according to claim 9, characterized in that, The limiting part has a plurality of first toothed protrusions arranged circumferentially on the end face facing the gasket, and the first end face has a plurality of second toothed protrusions arranged circumferentially that can mate with the first toothed protrusions.

13. The optical target fixing assembly according to claim 1, characterized in that, The optical target fixing assembly further includes an installation wrench for removing and installing the orthopedic screw. The installation wrench includes an installation interface, which includes a rotating rod and a limiting rod that extends radially along the side wall of the rotating rod. The rotating rod can be inserted into the installation hole, and the limiting rod can match the first groove to drive the orthopedic screw to rotate.

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