A clamping device for endoscopic spinal surgery

Abstract

The present invention relates to a clamping device for endoscopic spinal surgery, comprising a fixture body and a positioning guide rod. The bottom end of the positioning guide rod extends downward out of the fixture body for abutting against the vertebra. The fixture body is further provided with a lower drilling hole, a water inlet hole and a drain hole. The lower drilling hole, the water inlet hole and the drain hole all penetrate through the fixture body. The central axis of the lower drilling hole and the central axis of the water inlet hole intersect on the lower side of the bottom end of the fixture body so that the flushing water flow flows from the bottom end of the water inlet hole to the drill bit of the bone drill. The fixture body is further provided with a connecting member for connecting and fixing with a robotic arm. When using the clamping device for endoscopic spinal surgery to drill the spine, the surgeon can conveniently and accurately control the drilling depth. During the spine drilling process, the drilling area can be conveniently flushed. The surgeon only needs to focus on controlling the drilling depth of the drill bit, and the operation is simple, which can effectively reduce the surgical operation difficulty.

Description

Technical Field

[0001] The present invention relates to medical devices, and in particular to a clamping device for endoscopic spinal surgery. Background Art

[0002] During spinal surgery, when using a manually-fed spinal drill to drill holes, due to limited vision, doctors cannot accurately observe the drilling depth. During the spinal drilling process, the drill bit needs to be taken out frequently to observe the drilling depth, and the drilling stops after the drilling depth reaches the estimated position. This method requires the operating doctor to be highly skilled and experienced, increasing the working pressure of clinical doctors and being too difficult for beginners, which is not conducive to the rapid training of doctors. During the spinal drilling process, a large amount of tissue debris, blood stains and other impurities will be generated, and technical flushing is required to discharge them; the traditional method is to use a water inlet pipe and a water outlet pipe to flush and discharge the impurities. This method makes the already narrow surgical operation space more crowded, and attention needs to be paid to observing the position of the water pipe during the drilling process, increasing the drilling difficulty. Summary of the Invention

[0003] The purpose of the present invention is to provide a clamping device for endoscopic spinal surgery, which is used to solve the problems of inconvenient operation and high surgical difficulty during spinal surgery when using a spinal drill to drill holes.

[0004] To solve the above problems, the present invention provides a clamping device for endoscopic spinal surgery, including a fixture body and a positioning guide rod. The bottom end of the positioning guide rod extends downward out of the fixture body for abutting against the spinal vertebra. The fixture body is also provided with a lower drilling hole, a water inlet hole and a drainage hole. The lower drilling hole, the water inlet hole and the drainage hole all penetrate through the fixture body. The central axis of the lower drilling hole and the central axis of the water inlet hole intersect on the lower side of the bottom end of the fixture body so that the flushing water flows from the bottom end of the water inlet hole to the drill bit of the bone drill. The fixture body is also provided with a connecting piece for connecting and fixing with a robotic arm.

[0005] The clamping device for endoscopic spinal surgery provided by the present invention also has the following technical features:

[0006] Further, the connecting piece is a handwheel. The fixture body is provided with a threaded hole corresponding to the handwheel, and the handwheel is provided with a connecting stud.

[0007] Further, the positioning guide rod includes a guide straight rod and a lever. The lever is arranged at the top end of the guide straight rod, and the bottom end of the guide straight rod is provided with a rounded corner.

[0008] Furthermore, the cross-section of the guide straight rod is rectangular, and a sliding groove corresponding to the guide straight rod is provided on the outer wall of the clamp body. The guide straight rod is installed in the sliding groove and can slide up and down along the sliding groove. A baffle is provided on the outer wall of the clamp body to prevent the guide straight rod from escaping from the sliding groove; a plurality of positioning grooves are also provided on one side of the guide straight rod, and an elastic positioning component corresponding to the positioning groove is provided on the clamp body, and the end of the elastic positioning component can extend into the positioning groove to lock the positioning guide rod on the clamp body.

[0009] Furthermore, the elastic positioning assembly includes a positioning ball, a compression spring and a top screw. The clamp body is provided with a positioning through hole. The positioning ball, the compression spring and the top screw are sequentially installed in the positioning through hole. The outer wall of the top screw is provided with an external thread. The upper side of the positioning through hole is provided with an internal thread corresponding to the top screw. Rotating the top screw can adjust the clamping force of the compression spring and the positioning ball on the guide straight rod.

[0010] Furthermore, the cross-section of the drainage holes is circular, and the diameter of the drainage holes is larger than the diameter of the endoscope so that the endoscope can be extended into the surgical site through the drainage holes; the lower end of the central axis of the drainage hole is inclined toward the center of the clamp body, and the central axis of the drainage hole does not intersect with the central axis of the lower drill hole.

[0011] Furthermore, the cross-section of the clamp body is oblong and the major axis of the cross-section is arranged along the width direction of the clamp body, the width of the bottom end of the clamp body is smaller than the width of the top end of the clamp body, and the thickness of the bottom end of the clamp body is equal to the thickness of the top end of the clamp body.

[0012] Furthermore, the water inlet hole, the lower drill hole and the drainage hole on the bottom end of the clamp body are arranged along the rotation direction of the bone drill bit, so that the water flowing to the bone drill bit through the water inlet hole flows to the drainage hole under the centrifugal effect formed by the rotation of the bone drill bit.

[0013] The present invention has the following beneficial effects: when the clamping device for endoscopic spinal surgery is used to drill a hole in the spine, the surgeon can conveniently and accurately control the drilling depth; the drilled hole can be conveniently flushed during the spinal drilling process, and the surgeon only needs to focus on controlling the drilling depth of the drill bit, which is simple to operate and can effectively reduce the difficulty of surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic structural diagram of a clamping device for endoscopic spinal surgery according to an embodiment of the present invention;

[0015] Figure 2 for Figure 1Partial enlarged view at A in [Chinese context];

[0016] Figure 3 Isometric view of the clamping device according to an embodiment of the present invention from another perspective;

[0017] Figure 4 Bottom view of the clamping device according to an embodiment of the present invention;

[0018] Figure 5 Exploded view of the clamping device according to an embodiment of the present invention;

[0019] Figure 6 Schematic diagram of the clamping device according to an embodiment of the present invention for separating incised tissue;

[0020] Figure 7 Schematic diagram of the connection and fixation of the clamping device according to an embodiment of the present invention to a robotic arm;

[0021] Figure 8 Schematic diagram of observing the scale on the drill rod of the bone drill at B when the clamping device according to an embodiment of the present invention is drilling;

[0022] Figure 9 Schematic diagram of the structure of the fixture body according to an embodiment of the present invention;

[0023] Figure 10 Schematic diagram of the endoscopic observation field of view when the clamping device according to an embodiment of the present invention is drilling;

[0024] Figure 11 Schematic diagram of the flow of the flushing water flow when the clamping device according to an embodiment of the present invention is drilling;

[0025] Figure 12 Schematic diagram of the clamping device according to an embodiment of the present invention removing large debris through a lower drill hole;

[0026] Figure 13 Schematic diagram of the clamping device according to an embodiment of the present invention during flushing. Detailed implementation manners

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0028] As Figures 1 to 13In the embodiment of the clamping device for endoscopic spinal surgery of the present invention shown, the clamping device for endoscopic spinal surgery includes a clamp body 10 and a positioning guide rod 20. The bottom end of the positioning guide rod 20 extends downward out of the clamp body 10 for abutting against the vertebra. The clamp body 10 is further provided with a lower drilling hole 101, a water inlet hole 102 and a drain hole 103. The lower drilling hole 101, the water inlet hole 102 and the drain hole 103 all penetrate through the clamp body 10. The central axis of the lower drilling hole 101 and the central axis of the water inlet hole 102 intersect at the lower side of the bottom end of the clamp body 10 so that the flushing water flow flows from the bottom end of the water inlet hole 102 to the bone drill bit 41. The clamp body 10 is further provided with a connecting member 11 for connecting and fixing with the robotic arm 110.

[0029] For the above-mentioned clamping device for endoscopic spinal surgery of the present application, when a spinal drilling operation needs to be performed, first adjust the length of the bottom end of the positioning guide rod 20 extending downward out of the clamp body 10 and fix it. Then insert the clamp body 10 and the positioning guide rod 20 into the incised surgical site. The bottom end of the positioning guide rod 20 can be used to separate tissues at the tissue incision, enabling the doctor to better observe the tissue conditions inside the incision. Then, place the bottom end of the positioning guide rod 20 against a position on the vertebra as a fulcrum, and then fix the clamp body 10 on the robotic arm 110 through the connecting member 11, thereby completing the adjustment and fixation of the clamp body. Then insert the bone drill bit 41 and the bone drill rod 42 of the bone drill 40 into the clamp body 10 along the lower drilling hole 101. When the end of the bone drill bit 41 abuts against the vertebra to be drilled, as Figure 8 shown, record the scale value on the bone drill rod 42 aligned with the upper edge of the clamp body 10. Start the bone drill 40 to drill. After the bone drill bit 41 and the bone drill rod 42 move downward a certain distance, stop drilling. Observe the scale value on the bone drill rod 42 aligned with the upper edge of the clamp body 10. Thus, it is possible to calculate the current drilling depth without taking out the bone drill 40, which is convenient for the surgeon to accurately control the drilling depth. During the drilling process, a water inlet pipe 17 can also be connected to the upper end of the water inlet hole 102. The flushing water flow flows from the bottom end of the water inlet hole 102 to the bone drill bit 41 to flush the contact area between the bone drill bit 41 and the spine, and timely discharge impurities such as debris and blood stains generated during the drilling process through the drain hole 103. During the spinal drilling process, the surgeon only needs to control the drilling depth of the drill bit, with simple operation, which can effectively reduce the difficulty of the surgical operation.

[0030] In an embodiment of the present application, preferably, as Figure 4 、 Figure 5As shown, the connecting member 11 is a handwheel. A threaded hole 16 corresponding to the handwheel is provided on the fixture body 10, and a connecting stud is provided on the handwheel. After the bottom end of the positioning and guiding rod 20 abuts against a position on the vertebra as a fulcrum to position the fixture body 10, the connecting hole on the robotic arm 110 is aligned with the threaded hole 16, and then the connecting stud on the handwheel is inserted into the threaded hole 16 on the fixture body 10 and rotated and tightened to clamp and fix the robotic arm 110 between the handwheel and the fixture body. Thus, the connection and fixation between the fixture body and the robotic arm can be conveniently achieved.

[0031] In an embodiment of the present application, preferably, the positioning and guiding rod 20 includes a guiding straight rod 21 and a dial rod 22. The dial rod 22 is provided at the top end of the guiding straight rod 21, and a rounded corner is provided at the bottom end of the guiding straight rod 21 to avoid scratching human tissues.

[0032] In an embodiment of the present application, preferably, as Figure 5 、 Figure 9 shown, the cross-section of the guiding straight rod 20 is rectangular. A sliding groove 12 corresponding to the guiding straight rod 21 is provided on the outer wall of the fixture body 10. The guiding straight rod 21 is installed in the sliding groove 12 and can slide up and down along the sliding groove 12. A retaining piece 13 for preventing the guiding straight rod 21 from detaching from the sliding groove 12 is provided on the outer wall of the fixture body 10. A plurality of positioning grooves 23 are further provided on one side of the guiding straight rod 21, and an elastic positioning component corresponding to the positioning grooves 23 is provided on the fixture body 10. The end of the elastic positioning component can extend into the positioning grooves 23 to lock the positioning and guiding rod 20 on the fixture body 10. Thus, the length of the bottom end of the positioning and guiding rod 20 extending downward from the fixture body 10 can be conveniently adjusted as needed. Preferably, an installation groove 15 corresponding to the retaining piece 13 is provided on the fixture body 10, and the retaining piece 13 is fixedly welded to the fixture body 10. After the retaining piece 13 is fixedly welded to the fixture body 10, the upper surface of the retaining piece 13 is flush with the surface of the fixture body 10.

[0033] In an embodiment of the present application, preferably, as Figure 5 、 Figure 9As shown, the elastic positioning component includes a positioning ball 31, a compression spring 32, and a setscrew 33. A positioning through-hole 14 is provided on the fixture body 10. The positioning ball 31, the compression spring 32, and the setscrew 33 are sequentially installed in the positioning through-hole 14. External threads are provided on the outer wall of the setscrew 33, and internal threads corresponding to the setscrew 33 are provided on the upper side of the positioning through-hole 14. Rotating the setscrew 33 can adjust the pressing force of the compression spring 32 and the positioning ball 31 on the guiding straight rod 21. Specifically, a plurality of positioning grooves 23 are arranged in an array on one side of the guiding straight rod 21. Two sets of the elastic positioning components are provided on the fixture body 10. The positioning ball 31 is pressed by the spring 32 against the positioning groove 23, thereby making the positioning and guiding rod 20 reliably positioned on the fixture body 10. In this application, the compression degree of the compression spring 32 can also be conveniently adjusted by rotating the setscrew 33, enabling the operator to adjust the pressing force of the elastic positioning component on the positioning and guiding rod 20 according to their own strength. When pulling the positioning and guiding rod 20 through the lever 22 of the positioning and guiding rod 20 to adjust the extending length of the positioning and guiding rod 20, a "clicking" sound will be generated during the engagement and separation process between the positioning ball 31 and the positioning groove 23. The operator can judge the depth of the guiding rod based on the number of clicks.

[0034] In an embodiment of the present application, preferably, the cross-section of the drainage hole 103 is circular, and the diameter of the drainage hole 103 is larger than the diameter of the endoscope so that the endoscope 50 can extend into the surgical site through the drainage hole 103. The lower end of the central axis of the drainage hole 103 inclines towards the center of the fixture body 10, and the central axis of the drainage hole 103 does not intersect with the central axis of the lower drilling hole 101 to prevent the endoscope 50 from touching the bone drill bit 41 and being damaged. The endoscope 50 can conveniently observe the spinal drilling process by extending into the surgical site through the drainage hole 103. Specifically, during the spinal drilling process, tissue debris, blood, etc. will be generated. Most of the tissue debris will be discharged upward from the lower drilling hole as the bone drill bit rotates, but there will also be a small amount of tissue debris remaining in the drilling space. These tissue debris, blood, etc. will block the field of view of the endoscope and affect the doctor's judgment of the drilling situation. During the drilling operation, connect a water pipe to the quick connector of the water inlet pipe 17. Since the central axis of the water inlet hole intersects with the central axis of the lower drilling hole, the water flow will exactly wash the drilling position. Then, as the drill bit rotates, part of the flushing water will carry the tissue debris and be discharged upward from the lower drilling hole. Another part, due to the rotation of the bone drill bit driving the water to flow upward, will discharge the mixture of tissue debris, blood, and water from the drainage hole and the drainage pipe until the endoscope field of view is restored, and then stop flushing and continue the drilling operation. When the endoscope field of view is blocked by debris again, start flushing again until the endoscope field of view is restored.

[0035] In an embodiment of the present application, preferably, the cross-section of the fixture body 10 is oblong and the long axis of the cross-section is arranged along the width direction of the fixture body. The width of the bottom end of the fixture body 10 is smaller than the width of the top end of the fixture body 10, and the thickness of the bottom end of the fixture body 10 is equal to the thickness of the top end of the fixture body 10. Thus, the clamping device has a reasonable structure and can minimize the size of the fixture body while meeting functions such as drilling, flushing, and observing.

[0036] In an embodiment of the present application, preferably, the water inlet hole 102, the lower drilling hole 101, and the drain hole 103 on the bottom end of the fixture body 10 are arranged along the rotation direction of the bone drill bit 41, so that the water flow flowing from the water inlet hole 102 to the bone drill bit 41 flows to the drain hole 103 under the centrifugal action formed when the bone drill bit 41 rotates for drilling. Specifically, as Figure 11 shown, when observing the fixture body 10 from right to left Figure 11 the lower drilling hole 101 is located on the left side of the fixture body 10, the water inlet hole 102 and the water outlet hole 103 are located on the right side of the fixture body 10 and the water inlet hole 102 is located below the water outlet hole 103. After the flushing water flows from the water inlet hole 102 to the bone drill bit 41, under the centrifugal action generated by the bone drill bit 41 rotating counterclockwise during the drilling process, part of the flushing water flows towards the drain hole 103. In Figure 11 the clamping device for endoscopic spinal surgery shown, when observing the fixture body 10 from right to left Figure 11 if the bone drill bit 41 rotates clockwise during drilling, the water inlet hole 102 needs to be arranged above the water outlet hole 103 so that the water inlet hole 102, the lower drilling hole 101, and the drain hole 103 are arranged along the rotation direction of the bone drill bit 41.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping device for endoscopic spinal surgery, characterized in that, The tool body comprises a clamp body and a positioning guide rod, the bottom end of the positioning guide rod extends downwardly from the clamp body for contacting the vertebra; the clamp body is also provided with a lower drill hole, a water inlet hole and a drain hole, the lower drill hole, the water inlet hole and the drain hole all pass through the clamp body, the central axis of the lower drill hole and the central axis of the water inlet hole intersect at the lower side of the bottom end of the clamp body so that flushing water flows from the bottom end of the water inlet hole to the bone drill bit; the clamp body is also provided with a connecting piece for connecting and fixing with a robotic arm; the cross section of the clamp body is oblong and the major axis of the cross section is arranged along the width direction of the clamp body, and the width of the bottom end of the clamp body is smaller than the top end of the clamp body The width of the end, the thickness of the bottom end of the clamp body is equal to the thickness of the top end of the clamp body; the cross-section of the drainage holes is circular, and the diameter of the drainage holes is larger than the diameter of the endoscope so that the endoscope can be inserted into the surgical site through the drainage hole; the lower end of the central axis of the drainage hole is inclined toward the center of the clamp body, and the central axis of the drainage hole does not intersect with the central axis of the lower drill hole to avoid the endoscope touching the bone drill bit and damaging it; the water inlet hole, the lower drill hole and the drainage hole on the bottom end of the clamp body are arranged along the rotation direction of the bone drill bit, so that the water flowing to the bone drill bit through the water inlet hole flows to the drainage hole under the centrifugal effect formed by the rotation of the bone drill bit.

2. The clamping device according to claim 1, wherein: The connecting piece is a hand wheel, the clamp body is provided with a threaded hole corresponding to the hand wheel, and the hand wheel is provided with a connecting stud.

3. The clamping device according to claim 1, characterized in that: The positioning guide rod comprises a guide straight rod and a shift rod, wherein the shift rod is arranged at the top end of the guide straight rod, and the bottom end of the guide straight rod is provided with a rounded corner.

4. The clamping device according to claim 3, wherein: The cross-section of the guide straight rod is rectangular, and a sliding groove corresponding to the guide straight rod is provided on the outer wall of the clamp body. The guide straight rod is installed in the sliding groove and can slide up and down along the sliding groove. A blocking piece is provided on the outer wall of the clamp body to prevent the guide straight rod from escaping from the sliding groove; a plurality of positioning grooves are also provided on one side of the guide straight rod, and an elastic positioning component corresponding to the positioning groove is provided on the clamp body, and the end of the elastic positioning component can extend into the positioning groove to lock the positioning guide rod on the clamp body.

5. The clamping device according to claim 4, characterized in that: The elastic positioning assembly includes a positioning ball, a compression spring and a top screw. The clamp body is provided with a positioning through hole. The positioning ball, the compression spring and the top screw are sequentially installed in the positioning through hole. The outer wall of the top screw is provided with an external thread. The upper side of the positioning through hole is provided with an internal thread corresponding to the top screw. Rotating the top screw can adjust the pressing force of the compression spring and the positioning ball on the guide straight rod.

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