Bone connection system based on active flexible segment

Abstract

The present disclosure relates to the field of medical devices and discloses a bone connection system, comprising: a bone connection device, the bone connection device comprising: a proximal flexible connection segment; and a distal flexible connection segment; wherein the proximal flexible connection segment and / or the distal flexible connection segment are configured to be independently adjustable from a flexible state to a rigid state; an active flexible segment, the active flexible segment being detachably connected to the distal flexible connection segment or detachably connected to the proximal flexible connection segment and the distal flexible connection segment to drive the proximal flexible connection segment and the distal flexible connection segment to move; and a drive assembly for driving the active flexible segment to move.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a bone connection system. Background Art

[0002] A fracture is a complete or partial break in the continuity of a bone structure. One of the key steps in fracture treatment is to be able to stably connect the broken bone structure to its pre-fracture configuration.

[0003] In the prior art, broken bone structures are generally connected by implants, and then multiple screws are drilled from the outside to fix the implants. The prior art has the problem of easily causing significant trauma to the patient. Summary of the Invention

[0004] In some embodiments, the present disclosure provides a bone connection system, comprising: a bone connection device, the bone connection device comprising: a proximal flexible connection segment; and a distal flexible connection segment; wherein the proximal flexible connection segment and / or the distal flexible connection segment are configured to be able to independently adjust from a flexible state to a rigid state; an active flexible segment, the active flexible segment is detachably connected to the distal flexible connection segment or is detachably connected to the proximal flexible connection segment and the distal flexible connection segment to drive the proximal flexible connection segment and the distal flexible connection segment to move; and a drive assembly for driving the active flexible segment to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0006] Figure 1 A block diagram illustrating a bone connection system according to some embodiments of the present disclosure is shown;

[0007] Figure 2a A schematic diagram showing a bone connection device according to some embodiments of the present disclosure;

[0008] Figure 2b A schematic diagram showing a bone connection device in a rigid state according to some embodiments of the present disclosure;

[0009] Figure 3 A schematic diagram illustrating an active flexible segment according to some embodiments of the present disclosure;

[0010] Figure 4a A schematic diagram showing the connection between an active flexible segment and a bone connection device according to some embodiments of the present disclosure;

[0011] Figure 4bShow Figure 4a Cross-section view in the AA direction;

[0012] Figure 5a A schematic diagram showing the connection between the active flexible segment and the distal flexible connecting segment according to some embodiments of the present disclosure is shown;

[0013] Figure 5b A schematic diagram illustrating an unlocked active flexible segment according to some embodiments of the present disclosure;

[0014] Figure 5c A schematic diagram showing unlocking according to some embodiments of the present disclosure;

[0015] Figure 6 A schematic diagram showing the connection between the proximal drive structure and the active flexible segment according to some embodiments of the present disclosure;

[0016] Figure 7 A schematic diagram showing a linear motion mechanism according to some embodiments of the present disclosure;

[0017] Figure 8 Schematic diagrams showing linear motion mechanisms according to other embodiments of the present disclosure;

[0018] Figure 9 A schematic diagram showing a linear module and a motor assembly according to some embodiments of the present disclosure is shown;

[0019] Figure 10 A schematic diagram showing a bone connection system according to some embodiments of the present disclosure;

[0020] Figure 11a A schematic diagram showing a bone connection device connecting broken bones according to some embodiments of the present disclosure;

[0021] Figure 11b A schematic diagram showing the rigidification of the distal flexible connection section at the distal broken bone according to some embodiments of the present disclosure;

[0022] Figure 11c A schematic diagram showing the rigidification of the proximal flexible connection section at the proximal broken bone according to some embodiments of the present disclosure;

[0023] Figure 12 Schematic diagrams showing bone connection devices according to other embodiments of the present disclosure;

[0024] Figure 13a A schematic diagram illustrating the connection of spacer discs according to some embodiments of the present disclosure;

[0025] Figure 13b Schematic diagram showing the connection of spacer disks according to other embodiments of the present disclosure;

[0026] Figure 13cSchematic diagram showing the connection of spacer disks according to other embodiments of the present disclosure;

[0027] Figure 14a Schematic diagrams showing bone connection devices according to other embodiments of the present disclosure;

[0028] Figure 14b Show Figure 14a Schematic diagram of the rigidification of the bone connection device shown;

[0029] Figure 15a A schematic diagram showing a proximal rigid adjustment portion and a proximal flexible connection section according to some embodiments of the present disclosure;

[0030] Figure 15b Schematic diagrams showing a proximal rigid adjustment portion and a proximal flexible connection section according to other embodiments of the present disclosure;

[0031] Figure 16a A schematic diagram illustrating the use of a distal traction wire to rigidify a distal flexible connecting segment according to some embodiments of the present disclosure;

[0032] Figure 16b Show Figure 16a Schematic diagram of the distal flexible connecting segment rigidified using the distal traction wire;

[0033] Figure 16c Schematic diagram showing the use of a distal traction wire to rigidify a distal flexible connecting segment according to other embodiments of the present disclosure;

[0034] Figure 16d Show Figure 16c Schematic diagram of the distal flexible connecting segment rigidified using the distal traction wire;

[0035] Figure 17 A schematic diagram illustrating the connection between the locking portion and the second proximal spacer disc according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0036] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0037] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end closer to the operator (eg, doctor) is defined as the proximal end, near end, or rear end, and the end closer to the surgical patient is defined as the distal end, far end, or front end, or front end.

[0038] Figure 1 FIG. 1 is a block diagram of a bone connection system 100 according to some embodiments of the present disclosure. Figure 1 As shown, the bone connection system 100 includes: a bone connection device 110, an active flexible segment 120 and a drive assembly 130. In some embodiments, the bone connection device 110 is used to connect broken bones. In some embodiments, the active flexible segment 120 is detachably connected to the bone connection device 110 to drive the bone connection device 110 to move. For example, the active flexible segment 120 drives the bone connection device 110 to bend or feed. In some embodiments, the drive assembly 130 is used to drive the active flexible segment 120 to move. It will be understood by those skilled in the art that the bone connection device 110 can be implemented by the bone connection device in some embodiments of the present disclosure, for example, Figure 2a The bone connection device 200 shown, Figure 4a The bone connection device shown and Figure 14a The bone connection device 1400 is shown. The active flexible segment 120 can be implemented by the active flexible segment in some embodiments of the present disclosure, for example, Figure 3 The active flexible section 300 shown, Figure 4a The active flexible section 430 shown, Figure 6 The active flexible section 620 and Figure 10 Active flexible section 1010 is shown.

[0039] Figure 2a FIG. 2 shows a schematic diagram of a bone connection device 200 according to some embodiments of the present disclosure. Figure 2aAs shown, bone connection device 200 includes a proximal flexible connection segment 210 and a distal flexible connection segment 220. In some embodiments, an active flexible segment is detachably connected to the distal flexible connection segment 220, or detachably connected to both the proximal flexible connection segment 210 and the distal flexible connection segment 220, to drive movement of the proximal flexible connection segment 210 and the distal flexible connection segment 220. The proximal flexible connection segment 210 and / or the distal flexible connection segment 220 are configured to independently adjust from a flexible state to a rigid state. In this disclosure, changing from a flexible state to a rigid state is referred to as rigidification. In this disclosure, a rigid state refers to a state in which substantially no deformation occurs, or where deformation occurs within an acceptable range. For example, in the rigid state, the proximal flexible connection segment 210 or the distal flexible connection segment 220 will substantially not deform. For example, in the rigid state, the proximal flexible connection segment 210 or the distal flexible connection segment 220 will substantially not deform along its length. For example, in the rigid state, the proximal flexible connecting section 210 or the distal flexible connecting section 220 will not substantially deform along the cross-section of the broken bone.

[0040] Figure 2b Schematic diagram showing a bone connection device in a rigid state according to some embodiments of the present disclosure. Figure 2a and Figure 2b In some embodiments, the length of the proximal flexible connecting segment 210 and / or the distal flexible connecting segment 220 is retractable and can be in a retracted state when in a rigid state. In some embodiments, the lengths of the proximal flexible connecting segment 210 and the distal flexible connecting segment 220 can be independently adjusted, thereby enabling the proximal flexible connecting segment 210 and the distal flexible connecting segment 220 to independently adjust from a flexible state to a rigid state. In some embodiments, the transition of the proximal flexible connecting segment 210 or the distal flexible connecting segment 220 from a flexible state to a rigid state can be achieved by retracting the length of the proximal flexible connecting segment 210 or the distal flexible connecting segment 220.

[0041] Continue to read Figure 2b In some embodiments, the proximal flexible connecting segment 210 or the distal flexible connecting segment 220 expands outward in a length-contracted state. In some embodiments, the structure expands outward to connect with the bone wall (eg, the medullary cavity wall) (see Figure 11c In some embodiments, the outward expansion of the structure may be, for example, a circumferential expansion of the structure. During the outward expansion of the structure, the circumferentially expanded portion of the structure gradually approaches the bone wall in the direction of expansion until it is stably connected to the corresponding bone wall, for example, abutting against or inserting into the bone wall.

[0042] See Figure 2a and Figure 2bIn some embodiments, the distal flexible connecting segment 220 may include: a plurality of distal spacers 2201 and a plurality of distal connectors 2202. The distal connectors 2202 are connected between adjacent distal spacers 2201. In some embodiments, the distal connectors 2202 are capable of expanding outward to connect with the bone wall. When the distal flexible connecting segment 220 is in a contracted state, the distance between adjacent distal spacers 2201 decreases, and the distal connectors 2202 connected between adjacent distal spacers 2201 expand outward. In some embodiments, the distal connectors 2202 are capable of expanding outward when under pressure. In some embodiments, the distance between adjacent distal spacers 2201 decreases, and the distal connectors 2202 are compressed and expanded, and the distal connectors 2202 are capable of expanding outward when under pressure. In some embodiments, each distal spacer has a certain degree of asymmetry, thereby forming a connecting segment with a constant or variable curvature along its length after rigidification.

[0043] See Figure 2a and Figure 2b In some embodiments, a first distal disc connection structure 2203 and a second distal disc connection structure 2204 that can be matched and connected to the first distal disc connection structure 2203 are respectively provided on opposite sides of adjacent distal spacer discs 2201. In some embodiments, the first distal disc connection structure 2203 and the second distal disc connection structure 2204 can be detachably or non-detachably connected, for example, detachably fixedly connected, so as to rigidify the distal flexible connection section 220 and keep it in a rigid state. Figure 2b In some embodiments, the length of the distal flexible connecting segment 220 shrinks, the spacing between adjacent distal spacer discs 2201 decreases, and the first distal disc connection structure 2203 and the second distal disc connection structure 2204 move closer together for mating connection. In some embodiments, after the first distal disc connection structure 2203 and the second distal disc connection structure 2204 are mated and connected, the length of the distal flexible connecting segment 220 remains substantially unchanged, and the distal flexible connecting segment 220 remains rigid.

[0044] See Figure 2a and Figure 2bSimilar to the distal flexible connecting segment 220, in some embodiments, the proximal flexible connecting segment 210 may include: a plurality of proximal spacer discs 2101 and a plurality of proximal connectors 2102. The proximal connectors 2102 are connected between adjacent proximal spacer discs 2101. In some embodiments, the proximal connectors 2102 are capable of expanding outward to connect with the bone wall. When the proximal flexible connecting segment 210 is in a contracted state, the distance between adjacent proximal spacer discs 2101 decreases, and the proximal connectors 2102 connected between adjacent proximal spacer discs 2101 expand outward. In some embodiments, the proximal connectors 2102 are capable of expanding outward when under pressure. In some embodiments, the distance between adjacent proximal spacer discs 2101 decreases, and the proximal connectors 2102 are compressed and expanded, and the proximal connectors 2102 are capable of expanding outward when under pressure. In some embodiments, each proximal spacer disc has a certain degree of asymmetry, and thus can form a connecting segment with a constant or variable curvature along the length direction after rigidification.

[0045] See Figure 2a and Figure 2b In some embodiments, a first proximal disc connection structure 2103 and a second proximal disc connection structure 2104 that can be matched and connected to the first proximal disc connection structure 2103 are respectively provided on opposite sides of adjacent proximal discs 2101. In some embodiments, the first proximal disc connection structure 2103 and the second proximal disc connection structure 2104 can be detachably or non-detachably connected. For example, they can be detachably fixedly connected to rigidify the proximal flexible connection section 210, placing it in a rigid state. Figure 2b In some embodiments, the length of the proximal flexible connecting segment 210 shrinks, the spacing between adjacent proximal spacer discs 2101 decreases, and the first proximal disc connecting structure 2103 and the second proximal disc connecting structure 2104 approach each other for mating connection. In some embodiments, after the first proximal disc connecting structure 2103 and the second proximal disc connecting structure 2104 are mated and connected, the length of the proximal flexible connecting segment 210 remains substantially unchanged, and the proximal flexible connecting segment 210 remains rigid.

[0046] Those skilled in the art will appreciate that the first disk connection structure (e.g., the first proximal disk connection structure 2103 or the first distal disk connection structure 2203) and the second disk connection structure (e.g., the second proximal disk connection structure 2104 or the second distal disk connection structure 2204) may adopt various appropriate structures or materials that cooperate with each other, such as mutually engaging structures, mutually adhesive materials, mutually interlocking structures, mutually magnetically attracted materials, and the like.

[0047] In some embodiments, the first disk connection structure (e.g., first proximal disk connection structure 2103 or first distal disk connection structure 2203) and the second disk connection structure (e.g., second proximal disk connection structure 2104 or second distal disk connection structure 2204) are snap-fit ​​structures. For example, the first disk connection structure is a snap plate, and the second disk connection structure is a snap slot. Figures 13a to 13c Exemplary structures that can be used for a first disk connection structure (e.g., first proximal disk connection structure 2103 or first distal disk connection structure 2203) and a second disk connection structure (e.g., second proximal disk connection structure 2104 or second distal disk connection structure 2204) are shown. The first disk connection structure and the second disk connection structure can include mutually mating protrusions and grooves to achieve a fixed connection between adjacent proximal spacer disks 2101 or distal spacer disks 2201, thereby rigidifying the proximal flexible connection segment 210 or distal flexible connection segment 220, placing it in a rigid state.

[0048] In some embodiments, in a rigid state, the proximal spacer disk 2101 located at the distal end of the proximal flexible connecting segment 210 can be connected to the distal spacer disk 2201 located at the proximal end of the distal flexible connecting segment 220. In some embodiments, the distal proximal spacer disk 2101 is fixedly connected to the proximal distal spacer disk 2201, and thus the rigidified proximal flexible connecting segment 210 and the distal flexible connecting segment 220 can be regarded as an integral rigid connecting device. In some embodiments, the distal proximal spacer disk 2101 is connected to the proximal distal spacer disk 2201 by an embedded structure. In some embodiments, the distal proximal spacer disk 2101 is connected to the proximal distal spacer disk 2201 by a snap-fit ​​structure. In some embodiments, the distal proximal spacer disk 2101 and the proximal distal spacer disk 2201 can also be connected by magnetic attraction. In some embodiments, the active flexible segment is provided on the inner circumference of a plurality of distal spacer disks 2201 and / or a plurality of proximal spacer disks 2101, such as Figure 4a and Figure 4b shown.

[0049] Figure 3 FIG2 shows a schematic diagram of an active flexible segment 300 according to some embodiments of the present disclosure. Figure 3 In some embodiments, the active flexible segment 300 includes: a plurality of distal drive disks 310 and a plurality of distal structural bones 320. The proximal end of the distal structural bone 320 is connected to the drive assembly, and the distal structural bone 320 extends through the plurality of distal drive disks 310. The distal end is connected to the first distal drive disk 3101 located at the distal end of the plurality of distal drive disks 310. At least one distal drive disk 310 of the plurality of distal drive disks 310 is connected to a plurality of distal spacer disks (e.g., Figure 4aFor example, the first distal drive disc 3101 is detachably connected to the first distal spacer disc (eg, Figure 4b In some embodiments, at least one of the plurality of distal drive disks 310 is detachably connected to a corresponding distal spacer disk in the plurality of distal spacer disks. For example, at least one distal drive disk 310 and a corresponding distal spacer disk can be fixedly connected to achieve synchronous movement, and can also be separated to achieve independent movement. In some embodiments, at least one of the plurality of distal drive disks 310 is detachably connected to a plurality of proximal spacer disks (e.g., Figure 4a The proximal spacer disks 4101 shown are detachably connected to corresponding proximal spacer disks among the plurality of distal spacer disks. In the present disclosure, at least one distal drive disk connected to a corresponding distal spacer disk among the plurality of proximal spacer disks is located distal to the active flexible segment, and at least one distal drive disk connected to a corresponding proximal spacer disk among the plurality of proximal spacer disks is located proximal to the active flexible segment. In the present disclosure, the distal side of the active flexible segment includes the portion of the active flexible segment corresponding to the distal flexible connecting segment, and the proximal side of the active flexible segment includes the portion of the active flexible segment corresponding to the proximal flexible connecting segment.

[0050] In some embodiments, the driving assembly can pull the distal structural bone 320 proximally or push the distal structural bone 320 distally. In some embodiments, the driving assembly drives the active flexible segment 300 to bend by pushing or pulling at least one distal structural bone 320 (e.g., a pair of distal structural bones 320). In some embodiments, the connection scheme of the active flexible segment 300 with the proximal flexible connecting segment and the distal flexible connecting segment of the present disclosure can be as follows: Figure 4a and Figure 4b shown.

[0051] Figure 4a A schematic diagram showing the connection between an active flexible segment and a bone connection device according to some embodiments of the present disclosure. Figure 4b Shown Figure 4a Cross-section view in the AA direction. Figure 4a and Figure 4b In some embodiments, a bone connection device is provided on the outside of the active flexible section 430. Figure 4a and Figure 4bThe bone connection device shown includes a proximal flexible connection segment 410 and a distal flexible connection segment 420. In some embodiments, an active flexible segment 430 is coaxially disposed with the proximal flexible connection segment 410 and the distal flexible connection segment 420. A distal drive disk 4301 (e.g., the first distal drive disk 4301b) is connected to a corresponding distal spacer disk 4201 (e.g., the first distal spacer disk 4201b), enabling the distal flexible connection segment 420 to move synchronously with the distal active flexible segment 430. For example, the distal flexible connection segment 420 follows the active flexible segment 430 to achieve feeding or bending motion. Similarly, the proximal spacer disk 4101 is connected to the corresponding distal drive disk 4301, enabling the proximal flexible connection segment 410 to move synchronously with the proximal active flexible segment 430.

[0052] In some embodiments, the bone connection system further comprises: a separation structure for detachably connecting at least the distal drive disc and the corresponding distal spacer disc. In some embodiments, the separation structure is further used to detachably connect the distal drive disc and the corresponding proximal spacer disc. Figure 4b In some embodiments, the separation structure includes a first link 4401 and a second link 4402. In some embodiments, at least one distal drive disk 4301 is located distal to the active flexible segment 430 and is provided with a first radial channel (not shown), and the corresponding distal spacer disk 4201 is provided with a second radial channel (e.g., second radial channel 4202b). The at least one distal drive disk 4301 can be located at the distal end of the active flexible segment 430, or at a non-distal end in the distal region. In some embodiments, the inner end of the first link 4401 extends out of the first radial channel, and the outer end of the first link 4401 is located in the first radial channel; the inner end of the second link 4402 is located in the first radial channel and abuts the outer end of the first link 4401, and the outer end of the second link 4402 is located in the second radial channel 4202b. In this disclosure, the inner end and outer end of the first link refer to the ends of the first link that are closer to the inner and outer sides of the active flexible segment, respectively. The inner end and outer end of the second connecting rod refer to the inner and outer ends of the second connecting rod close to the distal flexible connecting section, respectively. Figure 4b In the embodiment, the second radial channel is blocked by the first connecting rod 4401 and the second connecting rod 4402. In some embodiments, the length of the first connecting rod 4401 is substantially the same as the length of the first radial channel.

[0053] In some embodiments, the distal drive disk 4301 can be separated from the corresponding distal spacer disk 4201 by moving the second connecting rod 4402 out of the first radial channel. Figure 5bThe unlocking rod 540 shown in FIG. 1 moves the first connecting rod 4401 toward the outside of the first radial channel, and the first connecting rod 4401 pushes the second connecting rod 4402 into the second radial channel 4202b. For example, the unlocking rod enters the inner side of the first distal drive disk 4301b, contacts the inner end of the first connecting rod 4401, and pushes the first connecting rod 4401, thereby moving the first connecting rod 4401 outward. In some embodiments, Figure 4a and Figure 4b The separation process of the active flexible section 430 and the bone connection device can be as follows: Figure 5a-5c Similarly, the first link 4401 and the second link 4402 can be used to connect and disconnect at least one distal driving disk 4301 located proximal to the active flexible segment 430 and the corresponding proximal spacer disk 4101 .

[0054] Figure 5a A schematic diagram illustrating the connection between the active flexible segment and the distal flexible connecting segment according to some embodiments of the present disclosure is shown. Figure 5b A schematic diagram illustrating an unlocked active flexible segment according to some embodiments of the present disclosure is shown. Figure 5c Schematic diagram showing unlocking according to some embodiments of the present disclosure. Figure 5a The distal flexible connecting section 520 is in a substantially rigid state, and the distal driving disk 5101 of the active flexible section 510 is connected to the distal spacer disk 5201 via a separation structure 530. The separation structure 530 includes a first connecting rod 5301 and a second connecting rod 5302 that are in contact with each other.

[0055] In some embodiments, the bone connection system further comprises an unlocking device, which is used to push the first connecting rod to move along the first radial channel and push the second connecting rod to move out of the first radial channel to separate the at least one distal drive disk and the corresponding distal spacer disk. In some embodiments, the unlocking device is, for example, an unlocking rod. Figure 5b , the unlocking rod 540 enters the inner side of the distal driving disk 5101, squeezes and pushes the first connecting rod 5301 to move along the first radial channel, and completely moves the second connecting rod 5302 to the second radial channel, so that the second connecting rod 5302 no longer restricts the relative movement of the distal driving disk 5101 and the distal spacer disk 5201. In addition, the first connecting rod 5301 can be located in the first radial channel, and there is no restriction on the relative movement of the distal driving disk 5101 and the distal spacer disk 5201. The distal end of the unlocking rod 540 may include an inclined surface to facilitate squeezing and pushing the first connecting rod 5301. After the second connecting rod 5302 is completely moved to the second radial channel, the distal driving disk 5101 is separated from the distal spacer disk 5201, and the active flexible section 510 withdraws from the distal flexible connecting section 520, as shown in FIG. Figure 5c .

[0056] In some embodiments, the drive assembly includes: a proximal drive structure, including: a proximal drive fixing plate, at least one proximal drive spacer plate and at least one proximal drive bone, the distal structure bone extends through the at least one proximal drive spacer plate, and the proximal end is fixedly connected to the proximal drive fixing plate. Figure 6 Schematic diagram showing the connection between the proximal drive structure and the active flexible segment according to some embodiments of the present disclosure. Figure 6 In some embodiments, the bending motion of the proximal drive structure 610 can drive the active flexible section 620 to bend. In some embodiments, the proximal drive structure 610 includes: a proximal drive fixing plate 6101 and at least one proximal drive bone 6102, and the proximal end of the distal structural bone 6201 is fixedly connected to the proximal drive fixing plate 6101. In some embodiments, the proximal drive structure 610 includes at least one proximal drive spacer plate 6103, and the distal structural bone 6201 extends through the proximal drive spacer plate 6103. In some embodiments, at least one pair of distal structural bones 6201 is included. In some embodiments, at least one pair of proximal drive bones 6102 is included. See Figure 6 In some embodiments, the proximal driving structure 610 can be driven to bend by pushing and pulling a pair of proximal driving bones 6102, thereby driving the active flexible section 620 to bend.

[0057] Figure 7 FIG. 7 is a schematic diagram showing a linear motion mechanism 700 according to some embodiments of the present disclosure. Figure 7 The linear motion mechanism 700 includes a double-threaded screw 710 having two threaded segments with opposite rotation directions; a slider 720 threadedly connected to one of the threaded segments of the double-threaded screw 710; and a slider 730 threadedly connected to the other threaded segment of the double-threaded screw. When the double-threaded screw 710 rotates, the two sliders (slider 720 and slider 730) move linearly in opposite directions along the double-threaded screw 710 at the same speed. The two sliders can be respectively connected to a pair of controlled components (component 740 and component 750). The controlled components can be, for example, structural bones or driver bones.

[0058] Figure 8 FIG. 8 is a schematic diagram showing a linear motion mechanism 800 according to some other embodiments of the present disclosure. Figure 8 The linear motion mechanism 800 includes a screw rod 810 and a slider 830 . The slider 830 is connected to the threaded section of the screw rod 810 . When the screw rod 810 rotates, the slider 830 moves linearly along the length direction of the screw rod 810 .

[0059] Those skilled in the art will appreciate that the linear motion mechanism 700 and the linear motion mechanism 800 can be driven by the motor assembly of the present disclosure, for example Figure 9 Motor assembly 920 is shown.

[0060] In some embodiments, the drive assembly further comprises: at least one first linear motion mechanism, the first linear motion mechanism being connected to the proximal drive bone to drive the proximal drive structure to bend and drive the active flexible segment to bend. In some embodiments, the first linear motion mechanism may include, for example Figure 7 The linear motion mechanism 700 is shown. The two sliders (slider 720 and slider 730) of the linear motion mechanism 700 are respectively connected to a pair of proximal drive bones, thereby driving the pair of proximal drive bones 6102 to perform reverse linear motion at the same speed. In some embodiments, the first linear motion mechanism may include, for example Figure 8 The linear motion mechanism 800 shown, for example, includes two linear motion mechanisms 800, wherein the two sliders 830 of the two linear motion mechanisms 800 are respectively connected to a pair of proximal driving bones 6102. When the screws 810 of the two linear motion mechanisms 800 rotate in opposite directions, the two sliders 830 can drive the pair of proximal driving bones 6102 to perform opposite linear motions.

[0061] In some embodiments, the driving assembly includes: at least one second linear motion mechanism, the second linear motion mechanism is connected to the proximal end of the distal structural bone 6201 to drive the active flexible segment 620 to bend. In some embodiments, the second linear motion mechanism may include, for example Figure 7 The linear motion mechanism 700 is shown. The two sliders (slider 720 and slider 730) of the linear motion mechanism 700 are respectively connected to a pair of distal structural bones 6201, thereby driving the pair of distal structural bones 6201 to perform reverse linear motion at the same speed. In some embodiments, the second linear motion mechanism may include, for example Figure 8 The linear motion mechanism 800 shown, for example, includes two linear motion mechanisms 800, wherein two sliders 830 of the two linear motion mechanisms 800 are respectively connected to a pair of distal structural bones 6201. When the screws 810 of the two linear motion mechanisms 800 rotate in opposite directions, the two sliders 830 can drive the pair of distal structural bones 6201 to perform opposite linear motion.

[0062] Figure 9 Schematic diagram showing a linear module and a motor assembly according to some embodiments of the present disclosure. Figure 9 In some embodiments, the bone connection system further includes a motor assembly 920. The drive assembly is connected to and driven by the motor assembly 920. The motor assembly 920 includes a motor assembly housing 9201; at least one motor (not shown) disposed within the motor assembly housing 9201, the motor being fixedly connected to a motor fixing plate 9202; and a first coupling 9203, the first end of which is connected to the output end of the motor. In some embodiments, the motor assembly housing 9201 is fixedly connected to the slider 9102.

[0063] In some embodiments, the bone connection system further includes an adapter for connecting the drive assembly to the motor assembly 920. In some embodiments, the adapter includes a support plate and a second coupling, the second coupling being rotatably mounted on the support plate, the first end of the second coupling being coupled to the second end of the first coupling of the motor assembly 920, and the second end of the second coupling being coupled to the linear motion mechanism of the drive unit. In some embodiments, the motor assembly 920 includes multiple motors, each of which drives the linear motion mechanism in some embodiments of the present disclosure.

[0064] In some embodiments, the bone connection system further comprises: a linear module 910, connected to a motor assembly 920, for driving the drive assembly and the bone connection device to achieve linear feed motion. The linear module 910 comprises: a support body 9101, on which a slide groove is provided; a slider 9102, slidably disposed in the slide groove, for driving the drive assembly to achieve linear feed motion; a lead screw 9103, rotatably disposed in the slide groove and threadedly connected to the slider 9102; and a lead screw motor 9104, for driving the lead screw 9103 to rotate. Those skilled in the art will appreciate that the feed or withdrawal motion of the drive assembly and the active flexible segment in the present disclosure can be achieved by driving the linear module 910.

[0065] Figure 10 FIG2 shows a schematic diagram of a bone connection system 1000 according to some embodiments of the present disclosure. Figure 10 The bone connection system 1000 further includes a positioning arm 1040, on which the linear module 1030 is disposed. In some embodiments, the positioning arm 1040 can position and maintain the linear module 1030 at a predetermined position and posture. Figure 10 The bone connection system 1000 shown in FIG further includes a driving module 1020 and an active flexible segment 1010 connected to the driving module 1020. The driving module 1020 includes a motor assembly and a driving assembly. The driving module 1020 is disposed on a linear module 1030, and the linear feed motion of the driving module 1020 and the active flexible segment 1010 is driven by the linear module 1030. In some embodiments, the linear module 1030 may be Figure 9 The linear module 910 shown in FIG.

[0066] Figure 11a Schematic diagram showing the bone connection device according to some embodiments of the present disclosure connecting broken bones. Figure 11aAs shown, the broken bone is divided into a proximal broken bone 1130 and a distal broken bone 1140. In some embodiments, the proximal flexible connecting segment 1110 is used to be arranged in the medullary cavity of the proximal broken bone 1130, and the distal flexible connecting segment 1120 is used to be arranged in the medullary cavity of the distal broken bone 1140. It can be understood by those skilled in the art that the proximal flexible connecting segment 1110 can be implemented by the proximal flexible connecting segment in some embodiments of the present disclosure, for example Figure 2a and Figure 2b The proximal flexible connecting segment 210 and the distal flexible connecting segment 1120 shown in the figure can be realized by the distal flexible connecting segment in some embodiments of the present disclosure, for example Figure 2a and Figure 2b The distal flexible connecting section 220 is shown.

[0067] In some embodiments, the proximal flexible connecting segment 1110 is configured to enter the medullary cavity of the proximal fractured bone 1130 in a flexible state and to be stably connected to the medullary cavity wall of the proximal fractured bone 1130 in a rigid state. In some embodiments, the distal flexible connecting segment 1120 is configured to enter the medullary cavity of the distal fractured bone 1140 through the medullary cavity of the proximal fractured bone 1130 in a substantially flexible state and to be stably connected to the medullary cavity wall of the distal fractured bone 1140 in a rigid state. In some embodiments, the stable connection with the medullary cavity wall can include the connector of the flexible connecting segment (e.g., the proximal flexible connecting segment 1110 or the distal flexible connecting segment 1120) abutting against the corresponding medullary cavity wall, thereby generating a certain amount of friction, or the connector of the flexible connecting segment at least partially inserting into the medullary cavity wall, thereby generating a fixing force to prevent the rigid flexible connecting segment from sliding along the medullary cavity wall. In some embodiments, the circumferential side of the flexible connecting segment has a fixing force or contact friction with the medullary cavity wall, and this fixing force or friction force is greater than the pulling force that causes the fractured bones to separate during bone healing. For example, forces may be generated by tissue growth or traction caused by the patient's body movement.

[0068] In some embodiments, the proximal and distal fractured bones 1130, 1140 can be fixed in position to be connected. For example, based on an image of the fractured bones, a doctor can reposition the proximal and distal fractured bones 1130, 1140 to their correct positions and externally secure them with an auxiliary device. In some embodiments, the proximal fractured bone 1130 can be fixed in position to be connected, and the distal fractured bone 1140 can be adjusted to a position sufficient for bone connection.

[0069] See Figure 11a The proximal flexible connecting segment 1110 is set in the medullary cavity of the proximal broken bone 1130 in a flexible state, and the distal flexible connecting segment 1120 is set in the medullary cavity of the distal broken bone 1140 in a flexible state. In some embodiments, the proximal flexible connecting segment 1110 and the distal flexible connecting segment 1120 can be sent into the medullary cavity of the corresponding broken bone by the active flexible segment of the present disclosure, for example, Figure 3The active flexible section 300 shown, Figure 4a The active flexible section 430 shown, Figure 6 The active flexible section 620 and Figure 10 Active flexible section 1010 is shown.

[0070] Figure 11b Schematic diagram showing the rigidification of the distal flexible connection section at the distal fractured bone according to some embodiments of the present disclosure. Figure 11b The distal flexible connecting section 1120 is adjusted to a rigid state and stably connected to the medullary cavity wall of the distal broken bone 1140. In some embodiments, after the distal flexible connecting section 1120 is stably connected to the distal broken bone 1140, the distal broken bone 1140 can be aligned with the proximal broken bone 1130 by pulling the distal flexible connecting section 1120 proximally.

[0071] Figure 11c Schematic diagram showing the rigidification of the proximal flexible connection section at the proximal broken bone according to some embodiments of the present disclosure. Figure 11c , the proximal flexible connecting segment 1110 is adjusted to a rigid state and stably connected to the medullary cavity wall of the proximal broken bone 1130. In some embodiments, in the rigid state, the flexible connecting segment (e.g., the proximal flexible connecting segment 1110 or the distal flexible connecting segment 1120) is connected to the corresponding medullary cavity wall, and the proximal broken bone 1130 and the distal broken bone 1140 are matched and fit at the bone fracture position (see Figure 11c Since the rigid proximal flexible connecting section 1110 or the distal flexible connecting section 1120 will not be deformed and is stably connected to the corresponding medullary cavity wall, the proximal broken bone 1130 and the distal broken bone 1140 can be stably connected at the bone fracture position until healing. In some embodiments, the proximal flexible connecting section or the distal flexible connecting section is a substantially linear connecting section in the rigid state (see Figure 2b or Figure 11c For example, the curvature of the proximal flexible connecting section or the distal flexible connecting section in the rigid state is substantially zero. In some embodiments, the present invention can be applied to bone connection surgery for partial fractures of straight bones, such as long bone fractures.

[0072] Although the present disclosure uses the medullary cavity as an example to illustrate the embodiments of the present disclosure, for example Figures 11a-11c The medullary cavity of the distal broken bone 1140 and the medullary cavity of the proximal broken bone 1130 are shown, but those skilled in the art will appreciate that the embodiments of the present disclosure may be applied to other types of bone cavities, such as drill holes on bones.

[0073] Figure 12 FIG2 shows a schematic diagram of a bone connection device 1200 according to some embodiments of the present disclosure. Figure 12In some embodiments, the proximal flexible connecting segment 1210 or the distal flexible connecting segment 1220 of the bone connecting device 1200 is a curved connecting segment in a rigid state. For example, the proximal flexible connecting segment 1210 or the distal flexible connecting segment 1220 may have a fixed or variable curvature along its length in the rigid state. The fixed or variable curvature may be, for example, a predetermined curvature. The fixed or variable curvature may substantially correspond to the curvature of the fractured bones to be connected. For example, the variable curvature may include a proximal curvature formed by the rigidification of the proximal flexible connecting segment and a distal curvature formed by the rigidification of the distal flexible connecting segment.

[0074] In some embodiments, each spacer disc (proximal spacer disc 2101 or distal spacer disc 2201) has a certain degree of asymmetry (e.g., uneven thickness or uneven height of the disc connection structure, etc.), and thus can form a connection segment with a fixed or variable curvature after rigidification. In some embodiments, adjacent spacer discs (proximal spacer disc 2101 or distal spacer disc 2201) have a predetermined curvature after connection. In some embodiments, the curved bone connection device (e.g., Figure 12 The bone connection device 1200 shown can be applied to bone connection surgery for fractured bends, for example, bone connection surgery for fractured hip bones.

[0075] In some embodiments, the connector (eg, the proximal connector 2102 or the distal connector 2202) is a folding structure that can be folded along a folding position to expand outward. Figure 13a Schematic diagram showing the connection of spacer discs according to some embodiments of the present disclosure. Figure 13a In some embodiments, the first spacer disc 1310a and the second spacer disc 1320a are connected by a folding structure 1330a. In some embodiments, the first spacer disc 1310a and the second spacer disc 1320a may be adjacent proximal spacer discs or adjacent distal spacer discs. In some embodiments, the folding structure 1330a includes a first folding member 13301 and a second folding member 13302. One end of the first folding member 13301 and the second folding member 13302 are respectively connected to the corresponding spacer discs, and the other ends of the first folding member 13301 and the second folding member 13302 are connected at a folding position 13303. In some embodiments, the first folding member 13301 and the second folding member 13302 are connected at the folding position 13303, for example, by a hinge, integral molding, etc.

[0076] In some embodiments, the folding portion 13303 can abut against a bone wall. In some embodiments, the first folding member 13301 and / or the second folding member 13302 can have sharp tips at the folding portion 13303. In the rigid state, the first folding member 13301 and the second folding member 13302 fold at the folding portion 13303, with the sharp tips extending outward to connect with the bone wall, for example, to abut or insert into the bone wall. In some embodiments, the folding structure 1330a can include any suitable structure to connect with a bone wall.

[0077] Figure 13b Schematic diagrams showing the connection of spacer disks according to other embodiments of the present disclosure. Figure 13c Schematic diagram showing the connection of spacer discs according to other embodiments of the present disclosure. Figure 13b and Figure 13c In some embodiments, the connecting member is, for example, a flexible connecting strip 1330b or a flexible connecting strip 1330c. Figure 13b The first spacer disc 1310b and the second spacer disc 1320b are connected by a flexible connecting strip 1330b. Figure 13c , the first spacer disc 1310c and the second spacer disc 1320c are connected by a flexible connecting strip 1330c. The flexible connecting strip 1330b or the two ends of the flexible connecting strip 1330c connect the adjacent spacer discs. In some embodiments, when the distance between the adjacent spacer discs is shortened, the flexible connecting strip 1330b or the flexible connecting strip 1330c expands outward. In some embodiments, the flexible connecting strip is a planar connecting strip (for example, Figure 13b The flexible connecting strip 1330b shown) or the curved connecting strip (eg, Figure 13c Flexible connecting strip 1330c is shown).

[0078] In some embodiments, a friction member or a tip (e.g., one or more outwardly protruding spikes) is provided on the outer side of the flexible connecting strip (the side opposite to the bone wall). The friction member can provide a larger friction coefficient, and the tip can abut or insert into the bone wall, thereby making the connection between the rigidified proximal flexible connecting section or the distal flexible connecting section and the bone wall more stable. In some embodiments, the friction member is, for example, made of a material with a larger friction coefficient. In some embodiments, the friction member is, for example, a microstructure designed to increase friction, such as friction bumps, a rough contact surface, etc. In some embodiments, the friction member or the tip is provided in the area that can first contact the bone wall after expansion, such as the easily broken or bendable area of ​​the flexible connecting strip.

[0079] In some embodiments, the folding structure 1330a may also include a friction member or a tip, which may be disposed, for example, at the folding position 13303 of the folding structure 1330a, at the hinge between the first folding member 13301 and the second folding member 13302, and the like.

[0080] Figure 14a FIG2 shows a schematic diagram of a bone connection device 1400 according to some embodiments of the present disclosure. Figure 14a In some embodiments, bone connecting device 1400 may include a proximal flexible connecting segment 1410, a distal flexible connecting segment 1420, and a flexible transition segment 1450. Flexible transition segment 1450 is disposed between proximal flexible connecting segment 1410 and distal flexible connecting segment 1420. In some embodiments, the proximal portion of flexible transition segment 1450 is configured to be disposed within the medullary cavity of a proximal fractured bone, and the distal portion of flexible transition segment 1450 is configured to be disposed within the medullary cavity of a distal fractured bone. In some embodiments, the cross-sectional dimensions of flexible transition segment 1450 are smaller than or equal to the cross-sectional dimensions at the bone fracture site, for example, smaller than or equal to the cross-sectional dimensions of the spacer disc of proximal flexible connecting segment 1410 or distal flexible connecting segment 1420.

[0081] In some embodiments, the length of the flexible transition section 1450 is retractable. In some embodiments, the flexible transition section 1450 can be adjusted from a flexible state to a rigid state. Figure 14a In some embodiments, the flexible transition section 1450 includes a plurality of transition spacer discs 14501. In some embodiments, opposing sides of adjacent transition spacer discs 14501 are provided with matching transition end disc connection structures (e.g., a first transition end disc connection structure 14503 and a second transition end disc connection structure 14504).

[0082] Figure 14b Show Figure 14a Schematic diagram of the rigidification of the bone connection device shown. Figure 14a and Figure 14b In some embodiments, the length of the flexible transition segment 1450 decreases, the spacing between adjacent transition spacers 14501 decreases, and the transition plate connection structures move closer together for mating connection. In some embodiments, after the transition plate connection structures of adjacent transition spacers are mated, the length of the flexible transition segment remains substantially unchanged, and the flexible transition segment remains rigid.

[0083] In some embodiments, the transition disc at the proximal end of the flexible transition section can be connected to the proximal spacer disc at the distal end of the proximal flexible connecting section. The transition disc at the distal end of the flexible transition section can be connected to the distal spacer disc at the proximal end of the distal flexible connecting section. Figure 14bIn some embodiments, the proximal transition disc 14501a is stably connected to the distal proximal spacer disc 14101, and the distal transition disc 14501b is stably connected to the proximal distal spacer disc 14201. Consequently, the flexible transition segment 1450, the rigidized proximal flexible connecting segment 1410, and the rigidized distal flexible connecting segment 1420 can be considered as a single, rigid connection device. In some embodiments, the proximal transition disc and the distal proximal spacer disc, or the distal transition disc and the proximal distal spacer disc, can be connected using various structures, such as at least one of an embedded structure, a snap-fit ​​structure, or a magnetic connection.

[0084] In some embodiments, the bone connection device further comprises a proximal rigidification adjustment portion connected to the proximal flexible connection segment and configured to adjust the proximal flexible connection segment from a flexible state to a rigid state. In some embodiments, the proximal rigidification adjustment portion adjusts the proximal flexible connection segment from a flexible state to a rigid state by contracting the length of the proximal flexible connection segment. In some embodiments, the proximal flexible connection segment includes multiple proximal spacer discs, and the proximal rigidification adjustment portion is capable of shortening the spacing between adjacent proximal spacer discs. In some embodiments, the proximal rigidification adjustment portion is connected to a distal proximal spacer disc, to a spacer disc at the proximal or distal end of the flexible transition segment, or to a distal spacer disc at the proximal end of the distal flexible connection segment, for proximally moving the distal proximal spacer disc or the proximal distal spacer disc. In some embodiments, the proximal rigidification adjustment portion is connected to the proximal proximal spacer disc, such as by abutment, fixed connection, or movable connection, for distally moving the proximal proximal spacer disc. In some embodiments, the proximal rigidification adjustment portion is further capable of proximally moving the distal proximal spacer disc. It is understood that when the proximal rigidification adjustment portion contracts the length of the proximal flexible connecting segment, the structure of the proximal flexible connecting segment expands outward, achieving a stable connection with the bone wall of the proximal fracture. For example, the distance between adjacent proximal spacers decreases, and the proximal connecting member (e.g., the folded structure) expands outward.

[0085] Figure 15a Schematic diagram showing the proximal rigid adjustment portion and the proximal flexible connection section according to some embodiments of the present disclosure. Figure 15a In some embodiments, the proximal rigidification adjustment portion may include at least one proximal pull wire 1560, which is used to rigidify the proximal flexible connecting section 1510. In some embodiments, the proximal pull wire 1560 is used to pull the first proximal spacer disk 15101a located at the distal end of the plurality of proximal spacer disks 15101 toward the proximal end. For example, one end of the proximal pull wire 1560 is connected to the first proximal spacer disk 15101a, and the proximal pull wire extends through the plurality of proximal spacer disks 15101.

[0086] In some embodiments, the proximal rigidification adjustment portion may include: a compression rod (eg, Figure 16a 、 Figure 16band Figure 16c The compression rod 1670 is shown in FIG. 1 , and is used to push the second proximal spacer disk located at the proximal end of the plurality of proximal spacer disks toward the distal end. The distal end of the compression rod can be connected to the second proximal spacer disk located at the proximal end of the plurality of proximal spacer disks, for example, by abutment, fixed connection, or movable connection.

[0087] Figure 15b Schematic diagram showing the proximal rigid adjustment portion and the proximal flexible connection section according to other embodiments of the present disclosure. Figure 15b In some embodiments, the proximal traction wire 1560 is used to distally pull the second proximal spacer disk 15101b located at the proximal end of the plurality of proximal spacer disks 15101. For example, one end of the proximal traction wire 1560 is connected to the second proximal spacer disk 1501b, and the proximal traction wire 1560 extends through the plurality of proximal spacer disks 15101, rotates through the first proximal spacer disk 15101a, and then extends through the plurality of proximal spacer disks 15101.

[0088] In some embodiments, the pulling motion of the proximal pull wire can be assisted by relevant personnel (e.g., medical personnel) or driven by a power device. In some embodiments, the feeding motion of the compression rod toward the distal end can be assisted by relevant personnel (e.g., medical personnel) or driven by a power device. In some embodiments, the power device can, for example, include a linear motion mechanism.

[0089] In some embodiments, the bone connection device further comprises a distal rigidification adjustment portion connected to the distal flexible connection segment for adjusting the distal flexible connection segment from a flexible state to a rigid state. In some embodiments, the distal rigidification adjustment portion adjusts the distal flexible connection segment from a flexible state to a rigid state by contracting the length of the distal flexible connection segment. In some embodiments, the distal flexible connection segment includes a plurality of distal spacer discs, and the distal rigidification adjustment portion is capable of shortening the distance between adjacent distal spacer discs. In some embodiments, the distal rigidification adjustment portion is connected to the distal distal spacer discs for proximally moving the distal distal spacer discs. In some embodiments, the distal rigidification adjustment portion is connected to the proximal distal spacer discs for distally moving the proximal distal spacer discs. In some embodiments, the distal rigidification adjustment portion is also capable of proximally moving the distal distal spacer discs. It will be appreciated that when the distal rigidification adjustment portion contracts the length of the distal flexible connection segment, the structure of the distal flexible connection segment expands outward, achieving a stable connection with the bone wall of the distal bone fracture. For example, the distance between adjacent distal spacer discs is shortened, and the distal connecting members (eg, folded structures) are expanded outward.

[0090] In some embodiments, during the rigidification process, the proximal flexible connecting section can move a certain distance toward the distal end (but does not leave the proximal broken bone marrow cavity), for example, the compression rod pushes the proximal flexible connecting section toward the distal end. The distal end of the proximal flexible connecting section is connected to the proximal end of the flexible transition section, for example, by abutting or fixed connection, thereby pushing the proximal end of the flexible transition section to move distally. During the rigidification process, the distal flexible connecting section can move a certain distance toward the proximal end (but does not leave the distal broken bone marrow cavity). The proximal end of the distal flexible connecting section is connected to the distal end of the flexible transition section, for example, by abutting or fixed connection, thereby pushing the distal end of the flexible transition section to move proximally. In some embodiments, the proximal end of the flexible transition section moves distally or the distal end of the flexible transition section moves proximally, and the length of the flexible transition section is shortened, thereby achieving rigidification.

[0091] and Figure 15a Similar to the proximal rigidifying adjustment portion shown, in some embodiments, the distal rigidifying adjustment portion includes: at least one distal pulling wire (eg Figure 16a and Figure 16b The distal traction wire 1660a shown in FIG is used to pull the first distal spacer disk located at the distal end of the plurality of distal spacer disks toward the proximal end. In some embodiments, the distal end of the distal traction wire is connected to the first distal spacer disk, and the distal traction wire extends through the plurality of distal spacer disks. Figure 15b Similar to the proximal rigidification adjustment portion shown, in some embodiments, the distal pull wire (e.g. Figure 16c and Figure 16d The distal end of the distal traction wire 1660b) shown in the figure is connected to the second distal spacer disk located at the proximal end of the multiple distal spacer disks, and the distal traction wire extends through the multiple distal spacer disks, turns back through the first distal spacer disk, and then extends through the multiple distal spacer disks.

[0092] In some embodiments, the pulling motion of the distal pull wire can be assisted by relevant personnel (e.g., medical personnel) or driven by a power device (e.g., a linear motion mechanism). In some embodiments, the distal pull wire extends through the flexible transition section and the proximal flexible connecting section. For example, the distal pull wire extends through multiple transition spacer discs and multiple proximal spacer discs.

[0093] Figure 16a and Figure 16b and Figure 16c and Figure 16d Schematic diagram showing the use of a distal traction wire to rigidify the distal flexible connection segment according to some embodiments of the present disclosure. Figure 16a 、 Figure 16b 、 Figure 16c and Figure 16dThe structure shown in the figure includes: a proximal broken bone 1630, a distal broken bone 1640, a proximal flexible connecting section 1610, a flexible transition section 1650, a distal flexible connecting section 1620 and a compression rod 1670. The proximal flexible connecting section 1610 is arranged in the medullary cavity of the proximal broken bone 1630, the distal flexible connecting section 1620 is arranged in the medullary cavity of the distal broken bone 1640, and the flexible transition section 1650 is arranged at the junction of the broken bones. The structures of the proximal flexible connecting section 1610, the flexible transition section 1650 and the distal flexible connecting section 1620 can be, for example, Figure 14a and Figure 14b A similar structure is shown in FIG.

[0094] See Figure 16a and Figure 16b In some embodiments, the distal traction wire 1660a is used to pull the first distal spacer disc 16201 located at the distal end of the distal flexible connecting segment 1620 toward the proximal end. The distal end of the distal traction wire 1660a is connected to the first distal spacer disc 16201, and the distal traction wire extends through multiple distal spacers of the distal flexible connecting segment 1620. Figure 16c and Figure 16d In some embodiments, the distal end of the distal traction wire 1660b is connected to the second distal spacer disk 16202 located at the proximal end of the distal flexible connection segment 1620, and the distal traction wire 1660b extends through multiple distal spacer disks of the distal flexible connection segment 1620, rotates through the first distal spacer disk 16201, and then extends through multiple distal spacer disks of the distal flexible connection segment 1620.

[0095] In some embodiments, the compression rod 1670 can be connected to the second proximal spacer disk 16101 located at the proximal end of the proximal flexible connecting segment 1610, and the compression rod 1670 can push the second proximal spacer disk 16101 toward the distal end, thereby achieving rigidification of the proximal flexible connecting segment 1610.

[0096] In some embodiments, the bone connection system according to the present disclosure can be operated in various environments and in various modes, such as semi-automatic control operation, automatic control operation, etc. For example, in some embodiments, the bone connection system according to the present disclosure can be connected to a control device to form a robotic system. The control device of the robotic system can control the bone connection system to perform bone connection operations.

[0097] In an exemplary bone connection operation, the distal flexible connection segment enters the medullary cavity of the distal fractured bone from the proximal end of the proximal fractured bone through the medullary cavity of the proximal fractured bone in a flexible state, and the proximal flexible connection segment enters the medullary cavity of the proximal fractured bone from the proximal end of the proximal fractured bone in a flexible state. In some embodiments, the distal flexible connection segment or the proximal flexible connection segment can be fed along the medullary cavity channel to a predetermined medullary cavity position by an active flexible segment. For example, Figure 11a As shown, the proximal flexible connecting section 1110 and the distal flexible connecting section 1120 are respectively located in the medullary cavity of the proximal broken bone 1130 and the distal broken bone 1140. Alternatively, as Figure 16a 、 Figure 16c As shown, the proximal flexible connecting section 1610 and the distal flexible connecting section 1620 are respectively located in the medullary cavity of the proximal broken bone 1630 and the distal broken bone 1640, and the flexible transition section 1650 is located between the proximal broken bone 1630 and the distal broken bone 1640.

[0098] Those skilled in the art will appreciate that although Figure 11a 、 Figure 16a and Figure 16c The proximal end fractured bone and distal end fractured bone shown are still in a fractured state, but the proximal end fractured bone and distal end fractured bone can be repaired in advance. For example, the doctor can repair the proximal end fractured bone and distal end fractured bone from the outside by auxiliary tools.

[0099] When the distal flexible connection section is in a flexible state and is located in the medullary cavity of the distal fractured bone, the distal flexible connection section can be adjusted from the flexible state to the rigid state. The distal flexible connection section in the rigid state is stably connected to the medullary cavity wall of the distal fractured bone. For example, Figure 11b As shown, the rigidified distal flexible connecting section 1120 is connected to the medullary cavity wall of the distal broken bone 1140. Alternatively, as Figure 16b and Figure 16d As shown, the rigidified distal flexible connecting section 1620 is connected to the medullary cavity wall of the distal broken bone 1640. In some embodiments, the distal flexible connecting section can be connected to the distal end of the fractured bone 1640 by a distal connector (e.g., Figure 2a and Figure 2b The distal end connecting member 2202 shown in FIG is stably connected to the medullary cavity wall of the distal fractured bone. In some embodiments, the distal end can be rigidified by adjusting the portion (e.g., Figure 16a The distal traction wire 1660a shown in Figure 16c The distal traction wire 1660b) shown in the figure adjusts the distal flexible connecting segment from a flexible state to a rigid state.

[0100] When the proximal flexible connection section is in a flexible state and is located in the medullary cavity of the proximal fractured bone, the proximal flexible connection section can be adjusted from the flexible state to the rigid state. The proximal flexible connection section in the rigid state is stably connected to the medullary cavity wall of the proximal fractured bone. For example, Figure 11c As shown, the rigidified proximal flexible connecting section 1110 is connected to the medullary cavity wall of the proximal broken bone 1130. In some embodiments, the proximal flexible connecting section can be connected to the proximal end of the broken bone 1130 by a proximal connecting member (e.g., Figure 2a and Figure 2b The proximal connecting member 2102 shown in FIG. 2 is stably connected to the medullary cavity wall of the proximal broken bone. In some embodiments, the proximal rigidifying adjustment portion (e.g., Figure 15aThe proximal traction wire 1560 shown in Figure 16a The compression rod 1670 shown in FIG. 1 adjusts the proximal flexible connecting section from a flexible state to a rigid state.

[0101] In some embodiments, after the distal flexible connecting section is stably connected to the medullary cavity wall of the distal fractured bone, the distal flexible connecting section and the distal fractured bone can be pulled proximally, and the distal fractured bone can be adjusted in posture so that the distal fractured bone and the proximal fractured bone are butted together at the bone fracture site. Figure 11b As shown, after the distal flexible connecting section 1120 is rigidified, the distal broken bone 1140 is pulled toward the proximal end so that the distal broken bone 1140 is docked with the proximal broken bone 1130. Alternatively, as Figure 16b or Figure 16d As shown, after the distal flexible connecting section 1620 is rigidified, the distal broken bone 1640 is pulled proximally so that the distal broken bone 1640 is docked with the proximal broken bone 1630.

[0102] In some embodiments, the bone connection device may include a locking portion disposed at the proximal end of the bone connection device. In some embodiments, the locking portion is configured to lock the proximal end of the distal traction wire or the proximal traction wire when the distal flexible connection segment or the proximal flexible connection segment is in a rigid state. In some embodiments, the distal traction wire tightens the distal flexible connection segment to maintain the distal flexible connection segment in a rigid state. The locking portion locks the proximal end of the distal traction wire, thereby maintaining the distal flexible connection segment in a taut state.

[0103] Figure 17 Schematic diagram showing the connection between the locking portion and the second proximal spacer disc according to some embodiments of the present disclosure. Figure 17 In some embodiments, the locking portion 1780 can be provided on the second proximal spacer 17102 located proximal to the proximal flexible connecting section 1710. For example, the locking portion 1780 is fixedly connected to the proximal side of the second proximal spacer 17102, and the proximal end of the distal traction wire or the proximal traction wire 1760 is fixedly pressed by the locking portion 1780. In some embodiments, the locking portion can be a threaded connector, a snap connector, or a magnetic connector. In some embodiments, the locking portion can also be a locking hole provided on the second proximal spacer, and the proximal end of the distal traction wire or the proximal traction wire is fixed through the locking hole.

[0104] like Figure 17 As shown, the locking portion may include a front threaded section and a rear compression section, and the second proximal spacer includes a threaded hole of a certain depth and an inner support surface. The front threaded section can be fixedly connected to the threaded hole, and the rear compression section can compress the distal traction wire or the proximal traction wire against the inner support surface. In some embodiments, the inner support surface can be, for example, an inclined surface, and the rear compression section includes an outer inclined surface that matches the inner support surface.

[0105] It will be appreciated by those skilled in the art that, in some embodiments, the locking portion is not a necessary component for the rigidification of the bone connection device, but the locking portion can increase the stability and reliability of the rigidification of the bone connection device. In some embodiments, the locking portion can be omitted and only the distal disc connection structure (e.g., Figure 2a The first distal disk connection structure 2203 and the second distal disk connection structure 2204 shown in FIG), the proximal disk connection structure (eg, Figure 2a The first proximal disc connection structure 2103 and the second proximal disc connection structure 2104 shown in the figure), the transition disc connection structure (for example, the first transition end disc connection structure 14503 and the second transition end disc connection structure 14504) are used to achieve and maintain the rigidification of the bone connection device.

[0106] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A bone connection system comprising: A bone connecting device, comprising: a proximal flexible connecting section; and distal flexible connecting section; wherein the proximal flexible connection segment and / or the distal flexible connection segment are configured to be independently adjustable from a flexible state to a rigid state; an active flexible segment, the active flexible segment being detachably connected to the distal flexible connecting segment or detachably connected to the proximal flexible connecting segment and the distal flexible connecting segment to drive the proximal flexible connecting segment and the distal flexible connecting segment to move; and A driving assembly, configured to drive the active flexible segment to move; The length of the proximal flexible connecting segment and / or the distal flexible connecting segment is retractable and is in a contracted state in the rigid state, and when the proximal flexible connecting segment and / or the distal flexible connecting segment are in the contracted state, the structure expands outward to connect with the bone wall.

2. The bone connection system according to claim 1, wherein the distal flexible connection section comprises: multiple distal septal discs; as well as a plurality of distal connecting members connected between adjacent distal spacer discs among the plurality of distal spacer discs; and / or, The proximal flexible connecting section comprises: a plurality of proximal spacer discs; and a plurality of proximal connecting members connected between adjacent proximal spacer discs among the plurality of proximal spacer discs; The active flexible section is disposed on an inner circumference of the plurality of distal spacer disks and / or the plurality of proximal spacer disks.

3. The bone connection system according to claim 2, wherein the active flexible segment comprises: a plurality of distal drive plates and a plurality of distal structural bones, wherein the proximal ends of the distal structural bones are connected to the drive assembly, the distal ends of the distal structural bones extend through the plurality of distal drive plates, and the distal ends of the distal structural bones are connected to a first distal drive plate located at the distal end of the plurality of distal drive plates; At least one distal driving disk of the plurality of distal driving disks is detachably connected to a corresponding distal spacer disk of the plurality of distal spacer disks.

4. The bone connection system according to claim 3, further comprising: a separation structure for detachably connecting the at least one distal drive disk and the corresponding distal spacer disk, the separation structure comprising a first connecting rod and a second connecting rod; The at least one distal driving disk is located distal to the active flexible section and is provided with a first radial channel, and the corresponding distal spacer disk is provided with a second radial channel; The inner end of the first connecting rod extends out of the first radial channel, and the outer end of the first connecting rod is located in the first radial channel; the inner end of the second connecting rod is located in the first radial channel and abuts against the outer end of the first connecting rod, and the outer end of the second connecting rod is located in the second radial channel.

5. The bone connection system according to claim 4, further comprising: The unlocking device is used for pushing the first connecting rod to move along the first radial channel and pushing the second connecting rod to move out of the first radial channel to separate the at least one distal driving disk and the corresponding distal spacer disk.

6. The bone connection system according to claim 3, wherein the drive assembly comprises: A proximal drive structure, comprising: a proximal drive fixing plate, at least one proximal drive spacer plate, and at least one proximal drive bone, wherein the distal structure bone extends through the at least one proximal drive spacer plate, and a proximal end is fixedly connected to the proximal drive fixing plate; and At least one first linear motion mechanism is connected to the proximal drive bone to drive the proximal drive structure to bend and drive the active flexible section to bend.

7. The bone connection system according to claim 6, wherein the first linear motion mechanism comprises: A first double-start screw, comprising a first thread segment and a second thread segment; a first sliding block, threadedly connected to the first thread segment of the first double-start screw; as well as a second slider, threadedly connected to the second thread segment of the first double-start screw; The first slider and the second slider are respectively connected to a pair of proximal driving bones.

8. The bone connection system according to claim 3, wherein the drive assembly comprises: At least one second linear motion mechanism is connected to the proximal end of the distal structural bone to drive the active flexible section to bend.

9. The bone connection system according to claim 8, wherein the second linear motion mechanism comprises: a second double-start screw, comprising a third thread segment and a fourth thread segment; a third threaded slider connected to the third threaded segment of the second double-start screw; as well as a fourth threaded slider connected to the fourth threaded segment of the second double-start screw; The third threaded slider and the fourth threaded slider are respectively connected to a pair of distal structural bones.

10. The bone connection system according to claim 6 or 8, further comprising: a motor assembly, configured to drive the drive assembly; as well as an adapter for connecting the drive assembly to the motor assembly; The linear module is connected to the motor assembly and is used to drive the drive assembly and the bone connection device to achieve linear feeding motion.

11. The bone connection system according to claim 10, wherein the motor assembly comprises: Motor assembly housing; a first motor disposed in the motor assembly housing; as well as a first coupling, wherein a first end of the first coupling is connected to an output end of the first motor; The adapter comprises: Support plate; and The second coupling is rotatably arranged on the support plate, the first end of the second coupling is coupled to the second end of the first coupling, and the second end of the second coupling is coupled to the linear motion mechanism of the drive assembly.

12. The bone connection system according to claim 10, wherein the linear module comprises: a bracket body, including a slide groove; A slider, slidably disposed in the slide groove and fixedly connected to the motor assembly housing; A lead screw is rotatably disposed on the slide groove and is threadedly connected to the slider; as well as The lead screw motor is used to drive the lead screw to rotate.

13. The bone connection system according to any one of claims 1-9, 11-12, wherein the proximal flexible connection section and / or the distal flexible connection section has a predetermined curvature in a rigid state.

14. The bone connection system according to any one of claims 1-9, 11-12, wherein the bone connection device further comprises: The flexible transition section is arranged between the proximal flexible connecting section and the distal flexible connecting section, and the flexible transition section includes: a plurality of transition spacer disks.

15. The bone connection system according to any one of claims 2 to 9 and 11 to 12, wherein the bone connection device further comprises: a proximal rigidification adjustment portion connected to the proximal flexible connection section, and configured to adjust the proximal flexible connection section from a flexible state to a rigid state; and / or The distal rigidification adjustment portion is connected to the distal flexible connection section and is used to adjust the distal flexible connection section from a flexible state to a rigid state.

16. The bone connection system according to claim 15, The distal rigidification adjustment portion includes: at least one distal pulling wire, used for pulling a first distal spacer disc located at the distal end among the plurality of distal spacer discs toward the proximal end; and / or The proximal rigidification adjustment portion includes: at least one proximal traction wire, used for pulling a first proximal spacer disk located at the distal end among the plurality of proximal spacer disks toward the proximal end; as well as A compression rod is used to push the second proximal spacer disk located at the proximal end among the plurality of proximal spacer disks toward the distal end.

17. The bone connection system according to claim 16, wherein: The distal end of the distal traction wire is connected to the first distal spacer disk, and the distal traction wire extends through the plurality of distal spacer disks; or The distal end of the distal traction wire is connected to the second distal spacer disk located at the proximal end of the multiple distal spacer disks, and the distal traction wire extends through the multiple distal spacer disks, rotates through the first distal spacer disk, and then extends through the multiple distal spacer disks.

18. The bone connection system of claim 16, further comprising: A locking portion is provided at the proximal end of the bone connection device, and is used to lock the proximal end of the distal traction wire when the multiple distal spacer discs are in a rigid state and / or to lock the proximal end of the proximal traction wire when the multiple proximal spacer discs are in a rigid state.

19. The bone connection system according to claim 18, The locking portion comprises: Any one of a threaded connector, a snap connector, and a magnetic connector; or The locking portion includes a locking hole, which is arranged at the proximal end of the bone connection device, and the proximal ends of the distal traction wire and / or the proximal traction wire are fixed through the locking hole.

20. The bone connection system according to claim 18, wherein the locking portion comprises: a front threaded section, used for fixedly connecting to the threaded hole at the proximal end of the bone connecting device; as well as The rear end pressing section is used to press the distal traction wire and / or the proximal traction wire against the inner supporting surface of the proximal end of the bone connection device.

21. The bone connection system according to any one of claims 2 to 9 and 11 to 12, A first distal disc connection structure and a second distal disc connection structure capable of matching and connecting with the first distal disc connection structure are respectively provided on opposite sides of the adjacent distal spacer discs; when the distal flexible connection section is in a rigid state, the first distal disc connection structure and the second distal disc connection structure are matched and connected; and / or A first proximal disc connection structure and a second proximal disc connection structure that can be matched and connected with the first proximal disc connection structure are respectively provided on opposite sides of the adjacent proximal spacer discs; when the proximal flexible connection section is in a rigid state, the first proximal disc connection structure and the second proximal disc connection structure are matched and connected.

22. The bone connection system according to any one of claims 2-9, 11-12, wherein the distal connection member is capable of expanding outward to connect with a bone wall; and / or the proximal connection member is capable of expanding outward to connect with a bone wall.

23. The bone connection system according to claim 22, wherein the distal connector or the proximal connector comprises: A folding structure, which can be folded along a folding position to expand outward, and the folding structure includes: a first folding member and a second folding member, one end of the first folding member and the second folding member are respectively connected to the corresponding distal spacer disk or proximal spacer disk, and the other ends of the first folding member and the second folding member are connected at the folding position.

24. The bone connection system according to claim 23, wherein the first folding member and / or the second folding member has a sharp tip at the folded position, and in a rigid state, the first folding member and the second folding member are folded at the folded position, and the sharp tips extend outward to connect with the bone wall; or The folding structure includes a friction member or a tip disposed at the folding position.

25. The bone connection system according to claim 22, wherein the distal connector or the proximal connector comprises: A flexible connecting strip, both ends of which are respectively connected to the adjacent distal spacer discs or the adjacent proximal spacer discs, and a friction piece or a tip is provided on the outer side of the flexible connecting strip.

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