An orthopedic nail placing device and an orthopedic implanting operation system

Abstract

The application relates to an orthopedic nail placing device and an orthopedic implanting operation system. The orthopedic nail placing device comprises a power drilling mechanism and a feeding mechanism; the power drilling mechanism comprises a motor; the feeding mechanism comprises a bottom plate, a linear motor and a linear guide rail which are installed on the bottom plate; the feeding mechanism is connected with the power drilling mechanism, the power drilling mechanism is driven by the linear motor to make reciprocating motion along the linear guide rail, and feeding motion of a surgical tool is realized; the orthopedic nail placing device further comprises a guide needle fixing mechanism for positioning a guide needle; the guide needle fixing mechanism comprises a fixing support, a connecting rod mounting block, two clamping blocks and at least one pair of connecting rods; the fixing support is installed on the bottom plate, and the connecting rod mounting block is installed on the fixing support; one end of each of the pair of connecting rods is movably connected to the connecting rod mounting block, and the other end of each of the pair of connecting rods is connected with the two clamping blocks respectively; the two clamping blocks are locked together by fasteners, and the guide needle is clamped between the two clamping blocks.

Description

[0001] This application is a divisional application of application No. 202110807537.9, filed on July 16, 2021, and entitled "Orthopedic screw placement device and system". TECHNICAL FIELD

[0002] The present application relates to the technical field of medical devices, in particular to an orthopedic screw placement device and an orthopedic placement operation system. BACKGROUND

[0003] Pedicle screw placement surgery is a very common surgery, and pedicle screws play an important role in the treatment of spinal trauma reduction, deformity correction, etc., and the key to the success of pedicle screw internal fixation surgery is whether the screw can be accurately placed through the pedicle without damaging the neural vertebra.

[0004] Currently, there is no automatic or semi-automatic pedicle screw placement tool that can be directly used for orthopedic surgery robots. The known orthopedic robots are only used for navigation positioning to the lesion site, and the orthopedic placement surgery is performed by the doctor manually; or a low-speed power drill is used to manually operate the screw placement. When the doctor manually taps and places the screw, the doctor needs to exert a lot of physical effort, and due to the high hardness of the cortical bone, the doctor often needs to knock it in with the help of a hammer and other tools when manually reaming. This operation causes a relatively large impact force on the human body, which can easily cause accidental injury; in addition, the final tightening torque when manually screwing the screw cannot be effectively controlled. When using a low-speed power drill to tap and place the screw, the doctor lacks the feel of manually screwing, and it is difficult to determine whether the screw has been placed in place; increasing the navigation marker frame at the end of the tapping and low-speed power drill tools can track the position of the tool tip in the bone in real time, but due to human reaction and physiological fatigue, there will be a delay, resulting in inaccurate depth.

[0005] Therefore, it is necessary to provide an orthopedic screw placement device that is easy to operate, accurate in orthopedic placement position, and can improve surgical efficiency and reduce surgical injury. SUMMARY

[0006] The purpose of the present application is to provide an orthopedic screw placement device that is easy to operate and accurate in surgical position.

[0007] To achieve the purpose of the present application, the following technical solutions are provided:

[0008] The orthopedic nail placing device comprises a power drilling mechanism and a feeding mechanism; the power drilling mechanism comprises a motor; a surgical tool is mounted on the power drilling mechanism and is driven to rotate by the motor; the feeding mechanism comprises a base plate, a linear motor and a linear guide rail mounted on the base plate; the feeding mechanism is connected with the power drilling mechanism, the power drilling mechanism is driven by the linear motor to make reciprocating motion along the linear guide rail, and feeding motion of the surgical tool is realized; the orthopedic nail placing device further comprises a guide pin fixing mechanism for positioning a guide pin; the guide pin fixing mechanism comprises a fixing support, a connecting rod mounting block, two clamping blocks and at least one pair of connecting rods; the fixing support is mounted on the base plate, and the connecting rod mounting block is mounted on the fixing support; one end of each of the pair of connecting rods is movably connected to the connecting rod mounting block, and the other end of each of the pair of connecting rods is connected to the two clamping blocks respectively; the two clamping blocks are locked together by fasteners, and the guide pin is clamped between the two clamping blocks.

[0009] In some embodiments, an orthopedic nail placing device comprises a power drilling mechanism, and a surgical tool is mounted on the power drilling mechanism; the power drilling mechanism comprises a motor, and the surgical tool is driven to rotate by the motor; the orthopedic nail placing device further comprises a feeding mechanism; the feeding mechanism comprises a base plate, a linear motor and a linear guide rail mounted on the base plate; the feeding mechanism is connected with the power drilling mechanism, the power drilling mechanism is driven by the linear motor to make linear reciprocating motion along the linear guide rail, and feeding motion of the surgical tool is realized.

[0010] In some embodiments, the feeding mechanism further comprises a moving seat; the moving seat is connected with the power drilling mechanism and a mover of the linear motor, and the moving seat drives the power drilling mechanism to make linear reciprocating motion under the drive of the mover of the linear motor; a sliding block is arranged on the linear guide rail and is slidably fitted along the linear guide rail; the moving seat is connected with the sliding block and slides relatively along the linear guide rail together with the sliding block; the feeding mechanism further comprises a pressure sensor for detecting resistance received by the surgical tool in the process of pushing; the pressure sensor is mounted between the moving seat and the power drilling mechanism; a limit switch is further arranged on the feeding mechanism and / or the power drilling mechanism to detect or limit the position of the motion of the power drilling mechanism.

[0011] In some embodiments, the motor of the power drilling mechanism is mounted on a motor mounting seat; the motor mounting seat and the moving seat are connected through a guide rod and move linearly reciprocally along the linear guide rail; the linear guide rail comprises two sliders; the moving seat is mounted on one slider of the linear guide rail; the motor mounting seat is mounted on the other slider; the orthopedic nail placing device further comprises a speed reducer, and the surgical tool is connected with the output shaft of the speed reducer; the rotating output of the motor of the power drilling mechanism is transmitted to the speed reducer, and the surgical tool is driven to rotate by the output shaft of the speed reducer; the limit switch comprises a photoelectric switch and a sensing sheet; the photoelectric switch is mounted on the bottom plate, and the sensing sheet is mounted on the moving seat and / or the power drilling mechanism; the power drilling mechanism is limited by cooperation of the sensing sheet and the photoelectric switch.

[0012] In some embodiments, the feeding mechanism comprises a pair of linear guide rails; the moving seat is mounted on one slider of each linear guide rail on both sides, and the motor mounting seat is mounted on the other slider of each linear guide rail on both sides; a pair of photoelectric switches are mounted on both sides of the bottom plate, and a pair of sensing sheets are mounted on the moving seat and the motor mounting seat respectively; the forward and backward positions of the power drilling mechanism during linear reciprocating movement are limited by cooperation of the sensing sheets and the photoelectric switches.

[0013] In some embodiments, the power drilling mechanism further comprises a speed increaser; the speed increaser is mounted on the speed reducer and used for clamping the surgical tool; the output shaft of the speed reducer is connected with the input shaft of the speed increaser to realize the function of speed increase; a drill chuck is arranged on the speed increaser, and the drill chuck clamps the surgical tool; the drill chuck is coaxially connected with the output shaft of the speed increaser; a quick release connector is mounted on the speed reducer and used for clamping the surgical tool; the quick release connector is coaxially connected with the output shaft of the speed reducer and can clamp the surgical tool in a detachable manner; when the orthopedic nail placing device performs needle insertion, the speed increaser and the speed reducer are sequentially connected to realize high-speed output; when reaming, tapping and nail placing operations are performed, the speed reducer is used to realize low-speed and large-torque output.

[0014] In some embodiments, the power drilling mechanism comprises a torque sensor and an adapter; one end of the shaft of the torque sensor is connected with the motor of the power drilling mechanism through the adapter, and the other end is connected with the input shaft of the speed reducer, so that the rotating movement of the motor is transmitted to the speed reducer through the torque sensor to drive the surgical tool to rotate; the moving seat is provided with a shaft hole; the other end of the shaft of the torque sensor is connected with the input shaft of the speed reducer through the shaft hole of the moving seat.

[0015] In some embodiments, the orthopedic nail placement device further comprises a reducer mounting seat for supporting the reducer; the feeding mechanism further comprises a linear bearing; the guide rod passes through the linear bearing, and two ends thereof are connected with the motor mounting seat and the moving seat respectively; the linear bearing can move linearly along the guide rod; the reducer mounting seat is connected to the linear bearing and moves linearly with the linear bearing; the feeding mechanism further comprises a sensor fixing block, which is fixed with the pressure sensor and the reducer mounting seat respectively, and the pressure detection is realized through the relative movement between the reducer mounting seat and the moving seat.

[0016] In some embodiments, the surgical tool comprises one or more of a guide pin, a reamer, a bone nail connected to an extender; the orthopedic nail placement device further comprises a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism comprises a fixed support, a connecting rod mounting block, a pair of clamping blocks, and at least one pair of connecting rods; the fixed support is mounted on the bottom plate, and the connecting rod mounting block is mounted on the fixed support; one end of the connecting rod is movably connected to the connecting rod mounting block, and the other end is connected to the clamping block; a pair of clamping blocks are locked together by fasteners to clamp and fix the guide pin.

[0017] In some embodiments, the guide pin fixing mechanism comprises a pair of long connecting rods and a pair of short connecting rods; one end of each of the pair of long connecting rods is rotatably mounted on the two sides of the connecting rod mounting block; one end of each of the pair of short connecting rods is rotatably mounted on the two sides of the connecting rod mounting seat; the other end of one long connecting rod and one short connecting rod is fixedly connected to one clamping block; a pair of clamping blocks are locked together by hand screws, and the guide pin is clamped between the pair of clamping blocks.

[0018] In some embodiments, the orthopedic nail placement device further comprises a housing and a cross laser system; the cross laser system is mounted at the front end of the housing; the orthopedic nail placement device further comprises a binocular camera, which is mounted at the front end of the feeding mechanism and connected with a computing device or a control center; a navigation surface is provided on the power drill mechanism, and a visible light visual recognition tracking pattern adapted to the binocular visual camera is provided on the navigation surface; the navigation surface is tracked by the binocular camera for tracking and monitoring; the orthopedic nail placement device further comprises a catheter mechanism; the catheter mechanism is mounted at the front end of the bottom plate; the catheter mechanism comprises a catheter, a catheter locking seat, and a catheter base; the catheter passes through the through hole of the catheter locking seat and is mounted in the catheter locking seat; the catheter locking seat is detachably mounted on the catheter base; the catheter mechanism further comprises an up-down adjusting seat and an adjusting base; the catheter base is mounted on the up-down adjusting seat, the up-down adjusting seat is mounted on the adjusting base, and the adjusting base is mounted on the bottom plate; the up-down adjusting seat can move up and down relative to the adjusting base to adjust the height and position; the orthopedic nail placement device further comprises a control circuit, which is electrically connected and communicatively connected with the computing device and / or the control center.

[0019] The application also provides an orthopedic implanting operation system, comprising an orthopedic implanting device, a computing device and / or a control center connected with the orthopedic implanting device; the computing device and / or the control center comprises a processor and a storage medium to acquire information of the orthopedic implanting device for information processing and function control of the orthopedic implanting device.

[0020] Compared with the prior art, the application has the following advantages:

[0021] The orthopedic implanting device of the application provides driving force for linear reciprocating motion of the power drill mechanism through the feeding mechanism, which adopts a linear motor and drives the surgical tools such as guide needles, reaming cones, taps and pedicle screws held by the power drill driving device, thereby realizing orthopedic implanting operation. The orthopedic implanting device of the application is used for orthopedic implanting operation, and the implanting operation process is stable, the impact on the human body caused by manual orthopedic implanting operation is small, the operation efficiency and the accuracy of orthopedic implanting operation are improved, and possible accidental injuries in manual orthopedic implanting operation can be avoided.

[0022] Further, the orthopedic implanting device of the application is also provided with a pressure sensor to complete real-time measurement of pressure, which can measure the resistance received by the surgical tools in the process of advancement in each process of orthopedic implanting operation; a torque sensor is arranged between the power drill driving device and the surgical tool clamping mechanism, which can accurately measure the torque of the pedicle screw in the whole implanting process, thereby intelligently judging whether the screw has been implanted in place, avoiding loosening of the screw in the pedicle due to lack of fastening, and improving the success rate and accuracy of operation.

[0023] The orthopedic implanting device of the application can also be fixed to an orthopedic surgical robot arm through a mounting interface, the parameters of each link of the implanting operation can be accurately controlled according to the preoperative operation plan, the deviation caused by manual operation is reduced, the operation accuracy is ensured, and the labor intensity of the doctor is reduced.

[0024] Further, the orthopedic implanting operation system of the application combines the orthopedic implanting device, the binocular vision system and the control center to form a complete operation system, realizes intelligent orthopedic implanting operation, and can track the operation of the intelligent orthopedic implanting device through the binocular vision system, thereby tracking and monitoring, improving the accuracy of orthopedic implanting operation, and reducing the risk of operation. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is an exploded view of the orthopedic implanting device of the embodiment of the application.

[0026] Figure 2 is a perspective view of the orthopedic implanting device of the embodiment of the application.

[0027] Figure 3 is the perspective view of the bone screwing device of the embodiment of the present application after the removal of the outer shell of the removing part.

[0028] Figure 4 is the perspective view of the bone screwing device of the embodiment of the present application when clamping the reamer cone.

[0029] Figure 5 is the perspective view of the bone screwing device of the embodiment of the present application when clamping the surgical tool.

[0030] Figure 6 is the structural schematic view of the bone screwing device of the embodiment of the present application when the navigation surface is arranged on the clamping mechanism, wherein Figure 6 the navigation surface in (a) is arranged on the reducer body, Figure 6 the navigation surface in (b) is arranged on the speed increaser. Embodiment

[0031] The bone screwing device of the present application comprises a power drilling mechanism, which comprises a power drilling mechanism 1 and a linear feed mechanism 2 connected with the power drilling mechanism 1 and used for generating a linear reciprocating motion variable. The power drilling mechanism 1 comprises a power drilling driving device 12 and a clamping mechanism 10 driven by the power drilling driving device. The clamping mechanism 10 is used for clamping the bone surgery tool 6 such as a guide needle 60, a reamer cone 61, a tap, a bone screw 62 mounted by an extender, etc. Specifically, the power drilling driving device 12 can adopt a driving motor. The present application provides the driving force of the linear reciprocating motion of the power drilling mechanism through the linear feed mechanism, and combines the driving control of the clamping mechanism by the power drilling driving device, so as to realize the bone surgery operation, to improve the operation efficiency and the accuracy of the bone surgery operation, and to avoid the accidental injury that may be caused in the previous manual bone surgery operation.

[0032] Please refer to Figures 1-5 In the embodiment, a bone surgery operation system comprises a power drilling mechanism 1, a linear feed mechanism 2, a surgical tool 6, a selectively used guide needle fixing mechanism 7, a cross laser system 8, a selectively used catheter mechanism 3, and a binocular camera 9. The bone surgery operation system of the present application is commonly used as an operation device for the bone screwing surgery.

[0033] The power drill mechanism 1 is connected to the linear feed mechanism 2 which generates linear reciprocating motion and drives the power drill mechanism 1 to linear reciprocating motion. The power drill mechanism 1 comprises a power drill driving device 12 and a surgical tool clamping mechanism 10 connected by the power drill driving device 12. The clamping mechanism 10 is internally provided with a surgical tool for orthopedic implantation, i.e. a surgical tool 6, and the power drill driving device 12 drives the surgical tool 6 to rotate. The power drill driving device 12 is generally a motor, and the power drill mechanism 1 further comprises a motor mounting seat 13 on which the motor is mounted. The motor mounting seat 13 is connected to the linear feed mechanism 2, so as to realize the linear feed motion of the power drill mechanism 1 driven by the feed mechanism 2 and realize the advancement of the surgical tool into the surgical site.

[0034] Specifically, the linear feed mechanism

[0035] 2 comprises a base plate 29 and a linear motor 20, a pair of linear guides 21, a moving seat 23, a photoelectric switch 230 and a sensing sheet 231 mounted on the base plate 29. The linear guides 21 have two sliders 210 which slide relative to the linear guides 21 and do not leave the linear guides 21. The moving seat 23 is connected to the linear motor 20 and the linear guides 21 respectively and driven by the linear motor 20 to generate linear reciprocating relative motion. Specifically, the moving seat 23 is mounted on the mover 201 of the linear motor and driven by the mover 201 to linear motion; at the same time, the moving seat 23 is mounted on the slider 210 and slides along the guide 21 together with the slider 210. In this embodiment, the stator 200 of the linear motor is arranged between the pair of linear guides 21. The linear motor 20 can adopt a flat plate type linear motor or a U-shaped slot type linear motor. The linear guides 21 are fixedly mounted on the base plate 29, and the linear motor 20 is mounted on the base plate 29.

[0036] A pair of photoelectric switches 230 are mounted on both sides of the base plate 29, and a pair of sensing sheets 231 are respectively mounted on the moving seat 23 and the motor mounting seat 13. Through the cooperation of the sensing sheets 231 and the photoelectric switches 230, the forward and backward positions of the power drill mechanism 1 during linear reciprocating motion are limited so as to avoid mechanical failure. The photoelectric switch 230 can adopt other limit switches for detecting and limiting the limit position of the power drill mechanism 1. The photoelectric switch 230 can be an infrared light sensor which can include an infrared receiving module and an infrared emitting module. When the moving seat 23 or the motor mounting seat 13 moves so that the sensing sheet 231 moves to the photoelectric switch 230, the infrared signal is interrupted. The information of the photoelectric switch is transmitted to the control mainboard or control center to control the opening and closing of the linear motor.

[0037] The power drilling mechanism 1 is installed on the moving seat 23 and moves with the moving seat 23. The motor mounting seat 13 of the power drilling mechanism 1 is connected with the moving seat 23 of the linear feed mechanism 2, specifically connected through the guide rod 17. In this embodiment, the linear bearing 18 is sleeved on the guide rod 17 in a relatively slidable manner, and the guide rod 17 is connected with the motor mounting seat 13 and the linear feed mechanism 2 at both ends, so that the relative position of the motor mounting seat 13 and the linear feed mechanism 2 is fixed.

[0038] The moving seat 23 is installed on one sliding block 210 of the linear guide rail 21, and the motor mounting seat 13 is installed on the other sliding block 210 of the linear guide rail 21, so that the motor mounting seat 13 and the linear feed mechanism 2 can move linearly and reciprocally relative to each other along the linear guide rail 21. The linear bearing 18 is installed on the guide rod 17, and the linear bearing 18 can move relative to the guide rod 17. The motor mounting seat 13 is fixed with the moving seat 23 through the guide rod 17, and the motor mounting seat 13 and the moving seat 23 can move linearly and reciprocally together along the linear guide rail 21. The linear bearing 18 is located between the motor mounting seat 13 and the moving seat 23, and is connected in series by the guide rod 17, so that the linear bearing 18 is driven by the motor mounting seat 13 and the moving seat 23 to move linearly and reciprocally together. The motor mounting seat 13 and the moving seat 23 are provided with shaft holes (not shown) for respectively installing one end of the guide rod 17, and the linear bearing 18 is provided with a through hole for the guide rod 17 to pass through.

[0039] The linear feed mechanism 2 further comprises a pressure sensor 26, which is fixed on the moving seat 23 and installed on the power drilling mechanism 1 through a sensor fixing block 260. The pressure sensor 26 is located between the linear feed mechanism 2 and the power drilling mechanism 1, and the pressure detection can be realized through the relative movement or interaction force between the linear feed mechanism 2 and the power drilling mechanism 1. The pressure sensor can complete real-time measurement of pressure, and can measure the resistance received by the surgical tool in the process of pushing in each process of the orthopedic implantation surgery, so as to avoid the occurrence of surgical accidents. The power drilling mechanism 1 comprises a reducer 11 and a reducer mounting seat 16, and the reducer 11 is used for installing and clamping the surgical tool 6. The reducer mounting seat 16 is fixed on the linear bearing 18 and can move linearly and reciprocally with the linear bearing 18. The sensor fixing block 260 is fixed with the pressure sensor 26 and the reducer mounting seat 16 respectively, and the pressure detection can be realized through the relative movement of the reducer mounting seat 16 and the moving seat 23. In this embodiment, the reducer mounting seat 16 is a cover structure, which covers the moving seat 23, the torque sensor 15 and the motor mounting seat 13. The bottom edge of the reducer mounting seat 16 is provided with a clamping groove (not shown) for clamping with the linear bearing 18. The linear bearing 18 is located between the moving seat 23 and the motor mounting seat 13, and the guide rod 17 passes through the linear bearing 18. The two ends of the guide rod 17 are connected with the moving seat 23 and the motor mounting seat 13 before and after the linear bearing respectively, so that the whole slides together.

[0040] The power drill mechanism 1 further comprises a torque sensor 15, a servo motor 12 (both the driving device and the motor are indicated by the reference numeral 12) and an adapter 14. The torque sensor 15 is installed on the moving seat 23, the servo motor 12 is installed on the motor mounting seat 13, and the servo motor 12 is connected with the torque sensor 15 through the adapter 14, so that the servo motor 12 can drive the torque sensor shaft to rotate, and the torque sensor shaft drives the corresponding surgical tool 6 clamped in the speed reducer 11 to rotate, thereby performing the related surgical operations such as channel establishment, reaming, tapping or nail placement. And the torque sensor 15 can detect the torque in real time. The torque sensor 15 can accurately measure the torque during the entire nail placement operation, thereby intelligently determining whether the surgical tool such as the bone nail has been placed in place, avoiding loosening of the bone nail in the surgical site (such as the pedicle) due to lack of fastening, and improving the success rate and accuracy of the operation.

[0041] The clamping mechanism 10 of the power drill mechanism 1 is used to clamp the surgical tool 6. The clamping mechanism 10 comprises a speed reducer 11, which is installed on a speed reducer mounting seat 16, and the input shaft of the speed reducer 11 is connected with the torque sensor 15. The servo motor 12 transmits the rotary motion to the speed reducer 11 through the torque sensor 15. The speed reducer 11 is connected with a quick release joint 110 for detachably clamping the surgical tool 6. The quick release joint 110 can adopt a structure of spring, steel ball and sleeve to facilitate quick and convenient disassembly and assembly of the surgical tool 6.

[0042] The nail placement device of the application further comprises a speed increaser 19 cooperating with the speed reducer 11, thereby meeting the different requirements of rotation speed in the surgical operation processes such as guide needle placement, reaming, tapping and nail placement.

[0043] When the guide needle 60 is placed, the speed increaser 19 and the speed reducer 11 are connected in sequence to realize high-speed output. When reaming, tapping and nail placement operations are performed, only the speed reducer 11 can realize low-speed and high-torque output, at which time the speed increaser 19 needs to be removed, and the quick release joint 110 behind the speed reducer 11 clamps the tools for reaming, tapping or nail placement operations. Figures 2-3 When the guide needle 60 is placed, the speed increaser 19 and the speed reducer 11 are connected in sequence to realize high-speed output. When reaming, tapping and nail placement operations are performed, only the speed reducer 11 can realize low-speed and high-torque output, at which time the speed increaser 19 needs to be removed, and the quick release joint 110 behind the speed reducer 11 clamps the tools for reaming, tapping or nail placement operations. Figures 4-5 When reaming, tapping and nail placement are performed, only the speed reducer 11 can realize low-speed and high-torque output, at which time the speed increaser 11 can not be used.

[0044] Specifically, when the guide pin 60 is placed, the speed increaser 19 and the speed reducer 11 are connected in sequence to achieve high-speed output, at this time the drill chuck 190 clamps the guide pin and is installed on the speed increaser 19, the speed increaser 19 is coupled with the speed reducer 11, the output shaft of the speed reducer 11 is connected with the input shaft of the speed increaser 19, and the speed increasing effect is achieved. The speed increaser 19 is provided with a drill chuck 190, the speed increaser 19 and the drill chuck 190 clamp the guide pin forward, and the speed reducer 11 and the quick release connector 110 clamp the reaming, tapping or nail placing surgical tool rearward. The quick release connector 110 is coaxially connected with the output shaft of the speed reducer 11, and the drill chuck 190 is coaxially connected with the output shaft of the speed increaser 19. The speed reducer 11 is connected with the power drill driving device 12. The output shaft of the speed reducer 11 is coaxial with the output shaft of the speed increaser 19. Therefore, the orthopedic implantation surgical tool 6 such as the guide pin 60 is connected with the output shaft of the speed reducer 11 and the output shaft of the speed increaser 19, clamped by the drill chuck 190, and driven by the output shaft of the speed reducer 11 and / or the output shaft of the speed increaser 19 to rotate the surgical tool 6 (guide pin 60).

[0045] Referring again to Figures 4-5 , the clamping mechanism 10 is a reaming / nail placing surgical tool two-in-one multifunctional clamping mechanism, which includes a speed reducer 11 and a quick release connector 110. The speed reducer 11 is connected with a torque sensor 15 and a power drill servo motor 12. The reaming cone 61 or the bone nail 62 connected to the extender can be quickly connected to the speed reducer 11 through the quick release connector 110. The speed reducer 11 can be connected with the torque sensor 15 through a screw, so that the servo motor 12 transmits the rotary motion to the speed reducer 11 through the torque sensor 15.

[0046] The surgical tool 6 is a tool used for orthopedic implantation surgical operation, including a guide pin 60, a reaming cone 61, and a bone nail 62 connected to an extender. The bone nail can be a pedicle screw. The surgical tool 6 is selected according to the operation plan of the orthopedic surgery.

[0047] The orthopedic nail placing device of the embodiment further includes a guide pin fixing mechanism 7 for positioning the guide pin 60.

[0048] The guide pin fixing mechanism 7 includes a fixed support 70 and a connecting rod mounting block 71. The fixed support 70 is installed on the bottom plate 29, and the connecting rod mounting block 71 is installed on the fixed support 70. Specifically, the guide pin fixing mechanism 7 clamps and positions the tail of the guide pin 60, the fixed support 70 is installed at the tail of the bottom plate 29 and is fixed by fasteners such as screws, and the connecting rod mounting block 71 is installed at the top of the fixed support 70 and is fixed by fasteners such as screws.

[0049] The guide pin fixing mechanism 7 further comprises clamping blocks 72, short connecting rods 73, long connecting rods 74 and fasteners such as hand screws 75. In this embodiment, one end of each of the pair of long connecting rods 74 is respectively mounted on the two sides of the connecting rod mounting block 71 and can rotate around the mounting point (pivot or hinge); one end of each of the pair of short connecting rods 73 is respectively mounted on the connecting rod mounting block 71 and can rotate around the mounting point (pivot or hinge). The other end of each of the pair of long connecting rods 74 and the pair of short connecting rods 73 is connected to the clamping block 72, fixedly connected, for example, the other end of the long connecting rod and the short connecting rod is fixedly connected to the bottom of the clamping block by the fastener screw. The guide pin 60 can be clamped in the middle of the two clamping blocks 72 by locking the two clamping blocks 72 together by the hand screw 75 (which can also be other fasteners). The opposite sides of the clamping block 72 are formed with guide pin grooves, and when the two clamping blocks 72 are clamped, the guide pin grooves are closed to clamp the guide pin 60 in the groove. In this embodiment, each clamping block 72 is rotatably connected to one side of the connecting rod mounting block 71 by the one end of the long connecting rod 74 and the short connecting rod 73 arranged above and below. The bottom of the clamping block 72 is formed with a step to fix the other end of the long connecting rod 74 and the short connecting rod 73. The fastener hand screw 75 locks the two clamping blocks 72 and is located on the top surface of the speed reducer mounting seat 16. Each clamping block 72 can also be rotatably connected to the connecting rod mounting block 71 by only a long connecting rod or a short connecting rod.

[0050] The orthopedic nail placement device of this embodiment comprises a shell 5 mounted on the bottom plate 29, which accommodates the feed mechanism 2 and part of the components of the power drill mechanism 1, and the speed reducer 42 is mounted on the speed reducer mounting seat 16 and extends upward to a certain height at the top of the shell 5 to install the orthopedic surgery tool 6.

[0051] The orthopedic nail placement device of this embodiment comprises a cross laser system 8. The cross laser system 8 is arranged at the front end of the orthopedic nail placement device and is fixed to the front end of the shell 5 by the front shell 80 to provide the doctor with an accurate incision position on the patient's skin.

[0052] The orthopedic nail placement device of this embodiment comprises a catheter mechanism 3, which comprises a catheter 35, a locking knob 36, a catheter locking seat 37, a catheter base 34, an up-down adjusting seat 30 and an adjusting base 31. The catheter 35 is installed in the locking seat 37 through the catheter locking seat 37 mounting hole. The fastener such as the locking knob 36 detachably installs the locking seat 37 on the catheter base 34, which is used to facilitate the disassembly of the catheter and the catheter mechanism 37. Referring to Figures 4-5 In the reaming and orthopedic placement operation, the catheter 35 and the catheter locking seat 37 are removed without using the catheter 35. The catheter base 34 is installed on the up-down adjusting seat 30, which is installed on the adjusting base 31, and the height can be adjusted by the up-down adjusting seat and positioned by fasteners such as hand screws or pins. The adjusting base 31 is installed on the bottom plate 29. The catheter mechanism 3 is installed at the front end of the shell 5 and the bottom plate 29.

[0053] The orthopedic nail placement device of the present application comprises a binocular camera 9, which is installed below the front end of the feeding mechanism through a binocular mounting seat 90 and is fixed to the bottom plate 29 or the lower side of the linear guide rail 21 through a platform fixing seat 91. The binocular camera 9 is connected with a computing device or control center, and can perform tracking identification and intraoperative monitoring. The computing device or control center can be a computing device or control console arranged on the surgical robot or arranged outside the surgical robot, which is used for information acquisition, information processing, function control and the like.

[0054] The present application also provides an orthopedic placement operation system, which comprises the above-mentioned orthopedic nail placement device, a binocular vision system, and a computing device or control center, wherein the binocular vision system is connected with the computing device / control center. The computing device / control center comprises a processor and a memory, which are used for information acquisition, data processing, and function control of the orthopedic nail placement device. The binocular vision system comprises a binocular camera 9 used for binocular vision spatial positioning, and the binocular camera 9 is connected with the computing device / control center.

[0055] In the embodiment, the feeding mechanism 2 can be realized in the following way. The linear guide rail 21 is fixedly installed with the bottom plate 29, the linear motor 20 is installed on the bottom plate 29, and the relative position of the linear motor 20 and the linear guide rail 21 is fixed. The sliding block 210 is arranged on the linear guide rail 21 and can move linearly and reciprocally relative to the linear guide rail 21, and the moving seat 23 is fixed on the sliding block 210. The linear motor 20 drives the moving seat 23 to move linearly and reciprocally relative to the linear guide rail 21. The precise positioning of the feeding movement of the moving seat 23 is realized by the grating ruler 25 and the reading head 24. The reading head 24 is installed on the moving seat 23 through the reading head mounting seat 22, and can also be installed on the power drill mechanism 1 (for example, installed on the motor mounting seat 13). The inductive sheet 231 is arranged on the moving seat 23 and cooperates with the photoelectric switch 230 to limit the limit position of the moving seat 23. The inductive sheet 231 can also be installed on the power drill mechanism 1 (for example, installed on the motor mounting seat 13). The power drill mechanism 1 is installed on the moving seat 23. In other embodiments, the moving seat 23 is located inside the front end of the speed reducer mounting seat 16, the motor mounting seat 13 is located inside the rear end of the speed reducer mounting seat 16, an inductive sheet 231 is arranged on the moving seat 23 and cooperates with the photoelectric switch 230 to limit the limit position of the forward movement of the moving seat 23. An inductive sheet 231 is arranged on the motor mounting seat 13 to limit the limit position of the rearward movement of the motor mounting seat 13. The front and rear limit switch assemblies are arranged to limit the limit positions of the front and rear of the power drill mechanism.

[0056] In this embodiment, the power drill mechanism 1 uses a power drill servo motor 12 as the drive, and a torque sensor 15 is installed between the power drill servo motor 12 and the clamping mechanism 10 of the orthopedic surgical tool. The torque sensor 15 can accurately measure the torque of the pedicle screw or orthopedic implant during the entire insertion process, thereby intelligently determining whether the screw or bone implant has been properly inserted; preventing loosening of the screw in the pedicle due to lack of tightening, and preventing the pedicle from being twisted and broken. The power drill servo motor 12 is mounted on a motor mounting base 13, and the clamping mechanism 10 is mounted on a movable base 23. A guide rod 17 connects the movable base 23 of the feed mechanism 2 and the motor mounting base 13, and a linear bearing 18 is mounted on the guide rod 17. The motor mounting base 13 is mounted on another slider 210 on a linear guide rail 21.

[0057] The pressure sensor 26 is installed between the moving seat 23 of the power drill mechanism 1 and the feed mechanism 2 to complete the real-time measurement of pressure. It can measure the resistance encountered by the surgical tool during the advancement process in each step of the orthopedic implantation surgery, thus avoiding surgical accidents.

[0058] In this embodiment, the fixing support 70 of the guide pin fixing mechanism 7 is installed on the base plate 29. The clamping block 72 is connected to the reducer mounting base 16 and located behind the reducer 11 via the long connecting rod 74 and the short connecting rod 73, corresponding to the position of the quick-release connector 110. The fastener locks the two clamping blocks 72 together to clamp the guide pin 60.

[0059] The surgical procedure for inserting bone screws generally includes the following steps: positioning, drilling a pilot hole, tapping, and screw placement. This invention's orthopedic screw placement device can also be used for orthopedic surgical procedures involving the placement of other implants. The conventional implant is a bone screw, such as a cannulated pedicle screw.

[0060] The orthopedic screw placement device of the present invention further includes a guide pin fixing mechanism 7. In surgical procedures where the guide pin 60 is used for guidance, such as hole widening, tapping, and screw placement, the guide pin fixing mechanism 7 clamps and fixes the guide pin 60. The tip of the guide pin 60 is inserted into the catheter 35. First, the guide pin 60 is inserted according to the surgical site and angle, referring to… Figures 2-3 The guide pin is used to determine the position and angle of the pedicle screw insertion and to guide tools such as the reamer, tap, and bone screw connected to the lengthener; then replace it with the reamer 61, referring to... Figure 4 The surgical site is enlarged following the guide pin; finally, the bone screw 62 connected to the lengthener is installed, and the screw is inserted following the guide pin 60, referring to... Figure 5 The catheter 35 is mounted on or removed from the catheter base 34 by the catheter locking seat 37. During insertion of the guide needle 60, the guide needle fixing mechanism 7 does not participate in the operation.

[0061] The orthopedic implanting device further comprises a control circuit for controlling the orthopedic implanting operation and detecting the orthopedic implanting condition.

[0062] With reference to Figure 6 The navigation surface 4 can be arranged on the body of the speed reducer 11, and the navigation surface 4 is provided with a visible light visual identification tracking pattern matched with the binocular vision system. The navigation surface 4 can also be arranged on the body of the speed increaser 19.

[0063] The structures or components in the above embodiments can be combined or replaced with each other to obtain other embodiments, which are still within the scope of the present application, and the specific structures and working principles are not described here.

[0064] The feeding mechanism provides the driving force for the linear reciprocating motion of the power drill mechanism, and the power drill driving device drives and controls the clamping mechanism, which mainly comprises the speed reducer 11 and the quick release joint 110, for clamping the guide needle, the reaming cone, the tap or the bone screw (such as the pedicle screw) connected to the extender required in the operation, so as to realize the orthopedic implanting operation.

[0065] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited thereto, and any equivalent transformation based on the technical solutions of the present application is within the protection scope of the present application.

Claims

1. An orthopedic tapping device, comprising a power drill mechanism and a feeding mechanism; the power drill mechanism comprises a motor; a surgical tool is mounted on the power drill mechanism, and the surgical tool is driven to rotate by the motor; characterized in that, The feeding mechanism comprises a base plate, a linear motor and a linear guide rail mounted on the base plate; the feeding mechanism is connected with the power drill mechanism, and the power drill mechanism is driven by the linear motor to move along the linear guide rail to realize the feeding movement of the surgical tool; The orthopedic nail placing device further comprises a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism comprises a fixing support, a connecting rod mounting block, two clamping blocks and at least one pair of connecting rods; the fixing support is mounted on the base plate, and the connecting rod mounting block is mounted on the fixing support; the two clamping blocks are locked together by fasteners, and the guide pin is clamped between the two clamping blocks; The at least one pair of connecting rods comprises a pair of long connecting rods and a pair of short connecting rods; one end of each of the pair of long connecting rods is rotatably mounted on the two sides of the connecting rod mounting block, and the other end of each of the pair of long connecting rods is connected with the two clamping blocks, respectively; one end of each of the pair of short connecting rods is rotatably mounted on the two sides of the connecting rod mounting seat; The guide pin fixing mechanism clamps and positions the tail part of the guide pin; the fixing support is mounted on the tail part of the base plate; the connecting rod mounting block is mounted on the top of the fixing support; The other end of the pair of long connecting rods and the other end of the pair of short connecting rods are connected to the clamping blocks by fasteners.

2. The orthopedic nail placing device according to claim 1, wherein The other end of the pair of long connecting rods and the other end of the pair of short connecting rods are connected to the bottom of the clamping blocks by fasteners; The bottom of each clamping block is formed with a step to fix the other end of the long connecting rod and the short connecting rod; Opposite sides of the two clamping blocks are formed with guide pin grooves, and the guide pin grooves are closed when the two clamping blocks are clamped to clamp the guide pin in the grooves.

3. The orthopedic nail placing device according to claim 1, wherein The motor is mounted on a motor mounting seat; the feeding mechanism comprises a moving seat; the moving seat is connected with the power drill mechanism and the mover of the linear motor, and the moving seat is driven by the mover of the linear motor to drive the power drill mechanism to move linearly along the linear guide rail to realize the feeding movement of the surgical tool; The power drill mechanism further comprises a speed reducer, and the surgical tool is connected with the output shaft of the speed reducer; the rotational output of the motor of the power drill mechanism is transmitted to the speed reducer, and the output shaft of the speed reducer drives the surgical tool to rotate; The speed reducer is mounted on a speed reducer mounting seat; The two clamping blocks are locked by fasteners and located on the top surface of the speed reducer mounting seat.

4. The orthopedic nail placing device according to claim 3, wherein The power drill mechanism comprises a speed increaser; The output shaft of the speed reducer is connected with the input shaft of the speed increaser to realize the speed increasing function; A drill chuck is arranged on the speed increaser, and the drill chuck clamps the surgical tool; the drill chuck is coaxially connected with the output shaft of the speed increaser; A quick release joint is mounted on the speed reducer to clamp the surgical tool; the quick release joint is coaxially connected with the output shaft of the speed reducer and can clamp and release the surgical tool; When the orthopedic nail placing device performs guide pin implantation, the speed increaser and the speed reducer are connected in sequence to realize high-speed output; when reaming, tapping and nail implantation operations are performed, only the speed reducer is used to realize low-speed and high-torque output. The surgical tool includes one or more of a guide needle, a reamer, and a bone nail connected to an extender.

5. The orthopedic nail setting device according to claim 3, wherein, The power drill mechanism includes a torque sensor and an adapter, one end of a shaft of the torque sensor is connected with a motor of the power drill mechanism through the adapter, and the other end of the shaft is connected with an input shaft of a speed reducer, so that the rotation of the motor is transmitted to the speed reducer through the torque sensor to drive the surgical tool to rotate; the motor drives the shaft of the torque sensor to rotate, and the torque is detected through the torque sensor; The other end of the shaft of the torque sensor is connected with the input shaft of the speed reducer through an axle hole in the moving seat; The feeding mechanism further includes a pressure sensor for detecting the resistance received by the surgical tool during the advancing; the pressure sensor is installed between the moving seat and the power drill mechanism; The feeding mechanism and / or the power drill mechanism are further provided with a limit switch for detecting or limiting the position of the power drill mechanism; The limit switch includes a photoelectric switch and a sensing sheet; the photoelectric switch is installed on the bottom plate, and the sensing sheet is installed on the moving seat and / or the power drill mechanism; the power drill mechanism is limited through the cooperation of the sensing sheet and the photoelectric switch.

6. The orthopedic nail setting device according to claim 3, wherein, Two sliders are arranged on the linear guide rail, and the sliders slide along the linear guide rail; the moving seat is installed on one of the sliders, and the motor mounting seat is installed on the other slider to slide along the linear guide rail oppositely; The motor mounting seat and the moving seat are connected through a guide rod to move linearly and reciprocally along the linear guide rail; The feeding mechanism further includes a linear bearing; the guide rod passes through the linear bearing, and the two ends of the guide rod are connected with the motor mounting seat and the moving seat respectively; the linear bearing can move linearly and reciprocally along the guide rod; The speed reducer mounting seat is connected with the linear bearing to move linearly and reciprocally along with the linear bearing.

7. The orthopedic nail setting device according to claim 1, wherein, The orthopedic nail setting device further includes a control circuit electrically connected and communicatively connected with a computing device and / or a control center; The orthopedic nail setting device further includes a binocular camera, the binocular camera is installed at the front end of the feeding mechanism and is connected with the computing device or the control center; a navigation surface is arranged on the power drill mechanism, and a visible light visual recognition tracking pattern adapted to the binocular camera is arranged on the navigation surface; the navigation surface is tracked by the binocular camera to perform tracking and monitoring; The orthopedic nail setting device further includes a housing and a cross laser system; the cross laser system is installed at the front end of the housing.

8. The orthopedic nail setting device according to any one of claims 1-7, wherein, The orthopedic nail setting device further includes a catheter mechanism; the catheter mechanism is installed at the front end of the bottom plate; The catheter mechanism includes a catheter, a catheter locking seat, and a catheter base; The catheter passes through a through hole of the catheter locking seat and is installed in the catheter locking seat; the catheter locking seat is detachably installed on the catheter base; The catheter mechanism further includes an up-down adjusting seat and an adjusting base; The conduit base is mounted on the up-down adjusting seat, the up-down adjusting seat is mounted on the adjusting base, and the adjusting base is mounted on the bottom plate; the up-down adjusting seat can move up and down relative to the adjusting base to adjust the height and position.

9. An orthopedic implant surgery operating system, characterized by, The system comprises the orthopedic nail placing device according to any one of claims 1-8, and a computing device and / or a control center connected with the orthopedic nail placing device; the computing device and / or the control center comprises a processor and a storage medium to acquire information of the orthopedic nail placing device, process the information, and control functions of the orthopedic nail placing device.

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