Split kirschner wire and kit for orthopedic surgical robot

Abstract

The invention provides a split type kirschner wire and kit for an orthopedic surgery robot, and belongs to the technical field of kirschner wires. The split type kirschner wire comprises a front kirschner wire body used for puncturing bones and a rear kirschner wire body used for being connected with an end effector of the orthopedic surgery robot; the front kirschner wire body is detachably connected with the rear kirschner wire body. Compared with Kirschner wire bending operation in the prior art, after the split type Kirschner wire is driven into the human body, the front Kirschner wire body with the proper length can be obtained more conveniently and safely, the problem of positioning displacement or loss caused by excessive pulling of the Kirschner wire is solved, and the Kirschner wire is more convenient to use. After the front kirschner wire body is detached and separated, due to the fact that the connecting end of the front kirschner wire body is smooth and clean, follow-up balloon dilatation kyphoplasty or pedicle screw implanting operation is facilitated, operation risks are reduced, and related operation operations can be carried out more safely, more reliably and more conveniently.

Description

Technical Field

[0001] The invention relates to a Kirschner wire, and in particular to a split Kirschner wire and a kit for an orthopedic surgical robot. Background Art

[0002] Spinal fixation surgery, percutaneous kyphoplasty, percutaneous vertebroplasty and other surgeries are common surgical methods in spinal surgery and are used to treat different spinal diseases.

[0003] Kirschner wires, also known as bone traction pins, positioning pins, guide pins, fixation pins, etc., are commonly used medical devices in the above-mentioned orthopedic surgeries. In these orthopedic surgeries, after the human bones are positioned, an orthopedic surgical robot is usually used to drive the Kirschner wires into the bones to provide a reference for subsequent further surgical operations, such as guiding hollow screws. However, in order to ensure the stability and reliability of the operation of driving the Kirschner wires into the bones, the end clamping end of the robot is usually longer, and the Kirschner wires that match it are therefore also longer.

[0004] In actual use, many problems are likely to arise. For example, after the Kirschner wire is inserted, an imaging system is needed to take an X-ray to confirm its insertion position. Longer Kirschner wires are prone to more obstruction during the X-ray. After the Kirschner wire is inserted into the bone, the robot's end effector needs to be withdrawn to allow the imaging system to take X-rays and perform subsequent surgical operations. Longer Kirschner wires result in a longer withdrawal stroke, which is not conducive to stable and reliable withdrawal of the robot and will increase the operation time. Usually, more than one Kirschner wire is inserted into the bone during surgery. After a longer Kirschner wire is inserted into the bone, its exposed section is prone to bending, making it difficult to maintain stable positioning, and is prone to interference in subsequent clinical operations such as the insertion of other Kirschner wires.

[0005] In the related art, in orthopedic surgical robot surgery, the operator bends the Kirschner wire after inserting it so that the operation can continue. The above bending operation requires a large force and there are certain clinical risks, such as increasing more tissue damage or the Kirschner wire deviating from the target position, affecting the positioning effect of the Kirschner wire; if the Kirschner wire deviates seriously, a second needle placement may be required, but due to the influence of the bone channel during the first needle placement, it is more difficult to place the needle accurately and stably. At this time, the doctor can only insert the pedicle screw based on experience, which tests the doctor's experience and there is a risk of hitting the nerve.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0007] Purpose of the invention: The technical problem to be solved by the present invention is to provide a split Kirschner wire and kit for an orthopedic surgical robot in view of the deficiencies in the prior art, which is conducive to subsequent coordinated use and reduces surgical risks.

[0008] In order to solve the above technical problems, the present invention discloses a split Kirschner wire for an orthopedic surgical robot, which includes a front Kirschner wire body for puncturing bones and a rear Kirschner wire body for connecting to the end effector of the orthopedic surgical robot, and the front Kirschner wire body is detachably connected to the rear Kirschner wire body.

[0009] Specifically, a threaded joint is arranged between the front Kirschner wire body and the rear Kirschner wire body; the threaded joint includes a male thread portion and a female thread portion, the male thread portion includes an external thread segment, and the female thread portion includes an internal thread segment adapted to the thread of the external thread segment; the male thread portion is formed on any one of the front Kirschner wire body and the rear Kirschner wire body, and the female thread portion is formed on the remaining one of the front Kirschner wire body and the rear Kirschner wire body.

[0010] Specifically, the male thread portion is formed at the front end section of the rear Kirschner wire body, and the female thread portion is formed at the rear end section of the front Kirschner wire body; the threads of the external thread section and the internal thread section are single-thread, double-thread or triple-thread.

[0011] Furthermore, the male thread portion also includes a guide section, which is arranged at one end of the external thread portion close to the screw-in direction of the female thread portion; the guide section is made of elastic material, and when the threaded joint is screwed together, the guide section abuts against the female thread portion.

[0012] Furthermore, the male thread portion also includes a first transition section and a second transition section, the first transition section is arranged between the guide section and the external thread section, and the first transition section is a spring structure; the second transition section is arranged at one end of the external thread section away from the guide section.

[0013] Specifically, the front Kirschner wire body includes a needle head, and the needle head and the threaded joint are respectively located at two opposite ends of the front Kirschner wire body along the length direction thereof;

[0014] The needle head adopts a triangular needle with a threaded shape, including a cylindrical needle body, the outer wall of the needle body is formed with an external thread, the front end of the needle body has a first section, a second section and a third section, the first section, the second section and the third section are distributed along the circumference of the needle body and enclosed to form a triangular pyramid; the intersection of any two adjacent ones of the first section, the second section and the third section constitutes an edge of the triangular pyramid, and the intersection point of the three edges of the triangular pyramid is located on the central axis of the needle body.

[0015] Specifically, the posterior Kirschner wire body includes a holding segment for holding by the end effector of the robot, and the holding segment is in the shape of a cylindrical rod; the holding segment is arranged at the rear end of the posterior Kirschner wire body;

[0016] Alternatively, a quick-connect connector for connecting to the end effector of the orthopedic surgical robot is formed at the rear end of the rear Kirschner wire body.

[0017] Furthermore, a docking mark for identifying the connection is provided at the connection between the front Kirschner wire body and the rear Kirschner wire body; and length marks for reading the insertion depth of the Kirschner wire are formed on the side walls of the front Kirschner wire body and the rear Kirschner wire body.

[0018] Specifically, a pluggable snap-on connector is provided between the front Kirschner wire body and the rear Kirschner wire body; the pluggable snap-on connector comprises a plug-in female head and a plug-in male head which can be plugged into each other, the plug-in female head is formed on any one of the front Kirschner wire body and the rear Kirschner wire body, and the plug-in male head is formed on the remaining one of the front Kirschner wire body and the rear Kirschner wire body;

[0019] The male connector includes a connecting portion, a cross beam arm and a protruding structure. Two cross beam arms are provided and are arranged opposite to each other. One end of each cross beam arm is connected to one end of the connecting portion close to the insertion direction of the female connector, and the other end of each cross beam arm extends in a direction away from the insertion direction of the female connector, and a protruding structure is provided on the outer side of the other end of each cross beam arm; the female connector includes a receiving groove matching the shape of the connecting portion, and a step is provided on the inner side of the receiving groove for hooking with the protruding structure; the cross section of the connecting portion is rectangular, and the protruding structure is a spherical bump.

[0020] A second aspect of the present invention provides a split Kirschner wire kit for an orthopedic surgical robot, comprising:

[0021] The split Kirschner wire for an orthopedic surgical robot as described above, wherein the split Kirschner wire comprises a front Kirschner wire body and a rear Kirschner wire body;

[0022] And one or more adapter needle rods, the adapter needle rods include a front end connection portion that can be detachably connected to the rear end of the front Kirschner wire body and a rear end connection portion that can be detachably connected to the rear Kirschner wire body.

[0023] Beneficial effects:

[0024] 1. By designing the Kirschner wire used in the orthopedic surgical robot as a split type and making the two parts detachably connected, compared with the bending Kirschner wire operation in the related art, the disassembly and separation method avoids excessive pulling of the Kirschner wire, and the front Kirschner wire body retained in the bone after separation has a smooth and burr-free connection end exposed outside the human tissue, which is conducive to subsequent use, such as inserting pedicle screws, reducing surgical risks, and performing related surgical operations more safely, more reliably and more conveniently.

[0025] 2. For split Kirschner wires connected by threads, double or triple threads are used to speed up the speed of threading in and out, so that the end effector of the orthopedic surgical robot can be withdrawn faster during robotic surgery.

[0026] 3. For the split Kirschner wire connected by threads, by providing a guide section, it is easier to center the male thread part of the threaded joint into the female thread part.

[0027] 4. For the split Kirschner wire connected by threads, the first transition section can be designed to be elastic, such as a spring section, or the guide section and / or the first transition section can be made of elastic materials such as silicone, so that a reaction force is generated when the guide section abuts against the bottom of the threaded hole on the corresponding female threaded part, which facilitates unscrewing, thereby avoiding the Kirschner wire from being displaced by force during the unscrewing process of the threaded joint.

[0028] 5. For split Kirschner wires connected by threads, a certain gap can be formed between the threads of the external thread section and the internal thread section in the thread height direction to reduce the tightness of the fit and the difficulty of unscrewing, thereby avoiding the Kirschner wire from being displaced by force during the unscrewing process of the threaded joint.

[0029] 6. The needle head of the front Kirschner wire body is provided with a threaded triangular needle head. This needle head structure can reduce the squeezing of the Kirschner wire head on the bone block, increase the holding force on the bone block, and expand the application scenarios of the Kirschner wire.

[0030] 7. A quick-connect connector is formed at the rear end of the Kirschner wire body, which facilitates quick connection with the orthopedic surgical robot.

[0031] 8. The present invention adds a plurality of adapter needle rods to form a kit with the front and rear Kirschner wire bodies. By selecting a suitable adapter needle rod during surgery, the length of the Kirschner wire portion inserted into the human body after separation that exceeds the human tissue can be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0033] Figure 1A structural exploded view of a split-type Kirschner wire for an orthopedic surgical robot provided in the first embodiment of the present invention;

[0034] Figure 2 for Figure 1 The schematic diagram of the structure of the split Kirschner wire after screwing together is shown;

[0035] Figure 3 for Figure 1 A schematic diagram of the structure of the threaded joint in the split Kirschner wire shown in FIG. 1 when the threaded joint is separated;

[0036] Figure 4 It is a structural schematic diagram of the threaded joint in which the male threaded portion is formed at the front end section of the rear Kirschner wire body when it is separated;

[0037] Figure 5 for Figure 4 A main cross-sectional view of the threaded joint shown;

[0038] Figure 6 It is a front view of the male threaded portion using double threads;

[0039] Figure 7 for Figure 6 A left side view of the male threaded portion using double threads is shown;

[0040] Figure 8 It is a front view of the male threaded portion using three threads;

[0041] Fig. 9 for Figure 8 A left side view of the male threaded portion using three threads is shown;

[0042] Fig.10 It is a schematic diagram showing that a certain gap is formed between the thread teeth of the external thread segment and the internal thread segment in the thread tooth height direction;

[0043] Fig.11 A front view of the male threaded portion of the first transition section using a spring structure;

[0044] Fig.12 It is a schematic diagram of the structure of a threaded triangular needle head;

[0045] Fig.13 It is a partial enlarged structural diagram of the first embodiment of the quick-connect connector of the rear Kirschner wire body;

[0046] Fig.14 It is a partial enlarged structural view of the second embodiment of the quick-connect connector of the rear Kirschner wire body;

[0047] Fig.15 It is a partial enlarged structural view of the third embodiment of the quick-connect connector of the rear Kirschner wire body;

[0048] Fig.16It is a schematic diagram of the structure of a split type Kirschner wire assembly having both a docking mark and a length mark;

[0049] Fig.17 It is a schematic diagram of the structure after the pluggable snap-in connector is pulled out;

[0050] Fig.18 It is a main cross-sectional view of the pluggable bayonet connector after being pulled out;

[0051] Fig.19 This is the main cross-sectional view of the pluggable bayonet connector after insertion.

[0052] Fig. 20 It is a structural schematic diagram in which a front Kirschner wire body, an adapter needle rod, and a rear Kirschner wire body are detachably connected end to end in sequence.

[0053] Fig.21 This is a real picture of the threaded joint with the male thread portion formed on the front end section of the rear Kirschner wire body when it is separated.

[0054] The description of the accompanying drawings is:

[0055] 100, front Kirschner wire body; 110, needle head; 111, needle body; 1111, first section; 1112, second section; 1113, third section; 200, rear Kirschner wire body; 211, holding section; 212, quick connector; 300, threaded connector; 310, male threaded portion; 320, female threaded portion; 311, external threaded section; 321, internal threaded section; 312, guide section; 313, first transition section; 314, second transition section; 400, docking mark; 500, length mark; 600, pluggable snap connector; 610, plug-in female head; 611, receiving groove; 612, step; 620, plug-in male head; 621, connecting portion; 622, crossbeam arm; 623, protruding structure. DETAILED DESCRIPTION

[0056] In the related art, in orthopedic surgical robot surgery, the operator bends the Kirschner wire after inserting it so that the operation can continue. The above bending operation requires a large force and there are certain clinical risks, such as increasing more tissue damage or the Kirschner wire deviating from the target position, affecting the positioning effect of the Kirschner wire; if the Kirschner wire deviates seriously, a second needle placement may be required, but due to the influence of the bone channel during the first needle placement, it is more difficult to place the needle accurately and stably. At this time, the doctor can only insert the pedicle screw based on experience, which tests the doctor's experience and there is a risk of hitting the nerve.

[0057] The embodiment of the present invention provides a split Kirschner wire for an orthopedic surgical robot, which has a two-body structure. Figure 1 and Figure 2As shown, the split Kirschner wire includes a front Kirschner wire body 100 for puncturing bones and a rear Kirschner wire body 200 for connecting to the end effector of an orthopedic surgical robot. The front Kirschner wire body 100 and the rear Kirschner wire body 200 are in the same straight line and are detachably connected.

[0058] Example 1

[0059] Combination Figure 1 As shown, in this example, a threaded joint 300 is provided between the front Kirschner wire body 100 and the rear Kirschner wire body 200. The front Kirschner wire body 100 and the rear Kirschner wire body 200 are detachably connected via the threaded joint 300.

[0060] Combination Figure 3 As shown, the threaded joint 300 includes a male threaded portion 310 and a female threaded portion 320 . The male threaded portion 310 includes an external threaded section 311 , and the female threaded portion 320 includes an internal threaded section 321 adapted to the thread of the external threaded section 311 .

[0061] The male thread portion 310 may be formed on any one of the front Kirschner wire body 100 and the rear Kirschner wire body 200, and the female thread portion 320 may be formed on the remaining one of the front Kirschner wire body 100 and the rear Kirschner wire body 200. Figure 4 and Figure 5 As shown, when the outer diameter of the front Kirschner wire body 100 is smaller than the outer diameter of the rear Kirschner wire body 200, preferably, as shown in Figure 4 and Fig.21 As shown, the male thread portion 310 is formed at the front end section of the rear Kirschner wire body 200, and the female thread portion 320 is formed at the rear end section of the front Kirschner wire body 100. In this way, the outer diameter of the thread can be increased as much as possible, which is convenient for increasing the holding strength of the two sections of the needle body, and can also reduce the processing difficulty and reduce the processing cost.

[0062] The threads of the external thread section 311 and the internal thread section 321 are single threads, that is, common threads.

[0063] Preferably, the threads of the external thread section 311 and the internal thread section 321 are both double threads, such as Figure 6 and Figure 7 As shown, or all three threads, such as Figure 8 and Fig. 9 shown.

[0064] This embodiment uses double threads or triple threads to speed up the speed of screwing in and out of the threads, so that the front and rear ends of the split Kirschner wire can be separated faster during robotic surgery, thereby reducing the operation time.

[0065] Combination Figure 5As shown, the male threaded portion 310 further includes a guide section 312, which is disposed at one end of the external threaded portion 311 close to the screwing direction of the female threaded portion 320. More specifically, the guide section 312 may be a conical guide head.

[0066] Combination Figure 5 As shown, the male thread portion 310 further includes a first transition section 313, which is disposed between the guide section 312 and the external thread section 311. The guide section 312, the first transition section 313 and the external thread section 311 are connected end to end in sequence. In this embodiment, the first transition section 313 is disposed to improve the stability of the thread in and out.

[0067] Combination Figure 5 As shown, the male thread portion 310 further includes a second transition section 314, which is disposed at one end of the external thread section 311 away from the guide section 312. The second transition section 314 is in the shape of a truncated cone, and the small end of the truncated cone is closer to the guide section 312 than the large end thereof. Figure 5 As shown, the second transition section 3141 connects the external thread section 311 and the rod 200, with a smooth transition to prevent stress concentration from causing fracture. The opening of the internal thread section 321 is provided with a corresponding matching chamfer to facilitate guiding and screwing.

[0068] Along the length direction of the external thread section 311 , the guide section 312 , the first transition section 313 , the external thread section 311 and the second transition section 314 are connected in sequence.

[0069] The orthopedic surgical robot drives the assembled Kirschner wire to rotate along the insertion path. In this process, in order to prevent the threaded joint from loosening, the direction of rotation of the thread in the threaded joint 300 should be consistent with the direction of rotation of the Kirschner wire inserted into the bone. For example, if the Kirschner wire is inserted clockwise, the thread in the threaded joint 300 should be right-handed; on the contrary, if the Kirschner wire is inserted counterclockwise, left-handed thread should be used.

[0070] The operation of driving the Kirschner wire into the bone will cause the threads of the connecting segment to continue to be tightened, thereby increasing the difficulty of separation.

[0071] In some embodiments, in combination Fig.10 As shown, a certain gap is formed between the thread teeth of the external thread segment 311 and the internal thread segment 321 in the thread tooth height direction to reduce the tightness of the fit and reduce the difficulty of unscrewing. Specifically, except for the last two teeth that are not tightly fitted and are of ordinary tooth type, the remaining tooth types are appropriately reduced.

[0072] The anti-twisting working principle of this embodiment is: Fig.10 As shown, when the external thread section 311 and the internal thread section 321 are tightened, see Fig.10As shown in the circled area, only the two threads on the far right are in close contact with each other, while the remaining threads on the left are not in close contact and there is a certain gap, so that the fitting gap after the threads are tightened is larger than that of conventional threads, and it is not easy to tighten them.

[0073] In other embodiments, in combination Fig.11 As shown, the first transition section 313 is elastically designed, for example, a spring structure, or the guide section 312 and / or the first transition section 313 are made of elastic materials such as silicone, so that when the guide section 312 abuts against the bottom of the threaded hole on the corresponding female threaded portion 320, a reaction force is generated to facilitate unscrewing. The spring or elastic material can be integrated with the external thread section 311 by interference embedding, welding, etc.

[0074] The anti-twisting working principle of this embodiment is: after the external thread section 311 is screwed in, the axial push-out force generated by the elastic material offsets a part of the force generated by the internal thread section 321 on the external thread section 311 after tightening, thereby playing an anti-twisting role.

[0075] During orthopedic surgical robot surgery, because it is equipped with a special torque sensor, the screw-in torque can be controlled below the limit of the corresponding Kirschner wire specifications, which is not easy to cause the mating parts to be screwed too tight, and it is convenient to achieve a good screwing and separation experience.

[0076] The front Kirschner wire body 100 of the present invention is configured to be able to puncture bones. Figure 1 As shown, the front Kirschner wire body 100 includes a needle head 110, and the needle head 110 and the threaded connector 300 are respectively located at two opposite ends of the front Kirschner wire body 100 along the length direction thereof.

[0077] In some embodiments of the needle head 110, the needle head 110 may adopt a triangular prism needle structure, which is easy to insert and remove and is suitable for temporary fixation and simple traction applications. Since the specific structure of the triangular prism needle structure is prior art, it will not be described in detail here.

[0078] In other embodiments of the needle head 110, Fig.12 As shown, the needle head 110 is a threaded triangular needle head, including a cylindrical needle body 111, the outer wall of the needle body 111 is formed with an external thread, and the external thread of the needle body 111 is in the same direction as the thread of the threaded connector 300. The end of the needle body 111 has a first cut surface 1111, a second cut surface 1112 and a third cut surface 1113, and the first cut surface 1111, the second cut surface 1112 and the third cut surface 1113 are distributed along the circumference of the needle body 111 and enclosed to form a triangular pyramid. The intersection of any two adjacent first cut surfaces 1111, the second cut surface 1112 and the third cut surface 1113 constitutes an edge of the triangular pyramid.

[0079] The threaded triangular needle head of the present embodiment can reduce the squeezing of the bone block by the Kirschner wire head 110 , increase the holding force on the bone block, and expand the application scenarios of the Kirschner wire, for example, it can achieve a better holding effect on cancellous bone.

[0080] Preferably, the intersection point of the three edges of the triangular pyramid is located on the central axis of the needle body 111 .

[0081] The Kirschner wire of the present invention is connected to the end effector of the robot via the rear Kirschner wire body 200, and the end effector of the robot drives the movement, for example, driving the front Kirschner wire body 100 into the bone.

[0082] In some embodiments of the posterior K-wire body 200, in combination with Figure 1 As shown, the posterior K-wire body 200 includes a holding section 211 for holding by the end effector of the robot, and the holding section 211 is in the shape of a cylindrical rod. The holding section 211 can be arranged at the rear end of the posterior K-wire body 200.

[0083] In other embodiments of the posterior K-wire body 200, as Figures 13 to 15 As shown, the rear end of the rear Kirschner wire body 200 is formed with a quick-connect connector 212, such as a single-plane connector, a double-plane connector, a triangular connector, etc. It should be understood that, accordingly, the matching orthopedic surgical robot end effector is provided with a corresponding quick-connect socket. It should be understood that the quick-connect connector 212 of the rear Kirschner wire body 200 of the present application can also match the quick-connect socket of an electric drill so that the Kirschner wire can be screwed in using an electric drill.

[0084] It should be understood that the length of the rear Kirschner wire body 200 should meet the clamping requirements of the robot end effector, so as to allow the robot to drive the assembled Kirschner wire to operate by clamping the rear Kirschner wire body 200. In a specific embodiment, the length of the rear Kirschner wire body 200 ranges from 100 mm to 400 mm.

[0085] In order to adapt to different levels of body fatness and thinness and different surgical sites, the length of the front Kirschner wire body 100 ranges from 50mm to 300mm, and the diameter of the assembled Kirschner wire ranges from 0.8mm to 5mm.

[0086] Combination Fig.16As shown, the connection between the front Kirschner wire body 100 and the rear Kirschner wire body 200 can be provided with a docking mark 400 for identifying the connection, which is convenient for operation and use. In some embodiments, the docking mark 400 can be formed by laser marking or color filling marking. In some other embodiments, the docking mark 400 is a development mark, such as an X-ray development marking ring. The X-ray development marking ring is nested near the connection between the front Kirschner wire body 100 and the rear Kirschner wire body 200. The front Kirschner wire body 100 and the rear Kirschner wire body 200 can be provided with the X-ray development marking ring respectively, or the X-ray development marking ring can be provided only on one of the front Kirschner wire body 100 and the rear Kirschner wire body 200.

[0087] This embodiment utilizes a docking mark 400 that can be developed under X-rays, so that the operator can clearly distinguish the position of the separation under X-ray imaging equipment, thereby providing a reference for subsequent surgical planning.

[0088] Combination Fig.16 As shown, the side wall surface of the front Kirschner wire body 100 and the side wall surface of the rear Kirschner wire body 200 can be formed with length marks 500 to facilitate the intuitive reading of the Kirschner wire insertion depth and to facilitate the selection of the length of orthopedic implant products such as pedicle screws in subsequent surgical operations.

[0089] It should be understood that the length mark 500 and the docking mark 400 for identifying the connection point can be set as needed, and can be set either one or both.

[0090] Below, the method of using the Kirschner wire of this embodiment in orthopedic surgery performed by an orthopedic surgical robot is described in detail.

[0091] The orthopedic surgery may be any of spinal instrumentation surgery, percutaneous kyphoplasty, and percutaneous vertebroplasty.

[0092] Before the Kirschner wire is inserted, the front Kirschner wire body 100 and the rear Kirschner wire body 200 are pre-connected together via the threaded joint 300, that is, the Kirschner wire is in a combined state.

[0093] After the front Kirschner wire body 100 is driven into place, the front Kirschner wire body 100 is fixed by a clamp or other fixing tool, and then the orthopedic surgical robot drives the rear Kirschner wire body 200 to rotate in the opposite direction and simultaneously moves away from the front Kirschner wire body 100 to exit, thereby separating the front Kirschner wire body 100 from the rear Kirschner wire body 200, and the robot's end execution section together with the rear Kirschner wire body 200 can then quickly exit the surgical operating position.

[0094] The front Kirschner wire body 100 retained on the bone after separation can be buried under the muscle tissue to ensure that its positioning is stable and reliable, and does not interfere with subsequent surgical operations such as filming, clamping and clinical surgical procedures.

[0095] The front Kirschner wire body 100 retained on the bone after separation may not be completely buried under the muscle tissue, and the length may be appropriately exposed from the human tissue to facilitate subsequent guidance and other operations.

[0096] Compared with the bending or cutting operation in the related art, the operation of separating the front Kirschner wire body 100 from the rear Kirschner wire body 200 by using an orthopedic surgical robot does not introduce any use risk and is easy to operate. In addition, since the tail section of the Kirschner wire is not bent, the rear Kirschner wire body 200 can be considered to be used in the future to save costs.

[0097] The front Kirschner wire body 100 that remains on the bone after separation can also be connected with a rear Kirschner wire body 200 of other sizes or requirements to extend its length or expand other usage functions.

[0098] Example 2

[0099] Different from the threaded connection of the first embodiment, a pluggable buckle joint 600 is provided between the front Kirschner wire body 100 and the rear Kirschner wire body 200. The front Kirschner wire body 100 and the rear Kirschner wire body 200 are detachably connected via the pluggable buckle joint 600.

[0100] By adopting the pluggable bayonet joint 600 , this embodiment can achieve a faster withdrawal effect by directly pulling without rotating, compared with the threaded joint 300 .

[0101] Combination Fig.17 , Fig.18 and Fig.19 As shown, the pluggable snap-on connector 600 includes a plug-in female head 610 and a plug-in male head 620 that can be plugged into each other. The plug-in male head 620 includes a connecting portion 621, a cross beam arm 622 and a protruding structure 623. The cross section of the connecting portion 621 is rectangular, preferably square. Two cross beam arms 622 are provided and arranged oppositely. One end of each cross beam arm 622 is connected to one end of the connecting portion 621 close to the insertion direction of the plug-in female head 610, and the other end of each cross beam arm 622 extends in a direction away from the insertion direction of the plug-in female head 610, and the outer side of the other end of each cross beam arm 622 is provided with a protruding structure 623. The protruding structure 623 can be a spherical convex point.

[0102] Combination Fig.19 As shown, the female plug-in portion 610 includes a receiving groove 621 that matches the shape of the connecting portion 621 , and a step 622 for hooking and engaging with the protruding structure 623 is provided inside the receiving groove 621 .

[0103] It should be understood that the plug-in female portion 610 can be formed on any one of the front Kirschner wire body 100 and the rear Kirschner wire body 200, and the plug-in male portion 620 is formed on the remaining one of the front Kirschner wire body 100 and the rear Kirschner wire body 200. Specifically, when the outer diameter of the front Kirschner wire body 100 is smaller than the outer diameter of the rear Kirschner wire body 200, preferably, the plug-in male portion 620 is formed on the front end section of the rear Kirschner wire body 200, and the plug-in female portion 610 is formed on the rear end section of the front Kirschner wire body 100.

[0104] The male connector 620 can be made of stainless steel, preferably nickel-titanium alloy, PEEK and other materials to enhance its matching effect. Specifically, these materials can increase the elasticity of the male connector 620 and facilitate separation of the two sections. Among them, the PEEK material can also facilitate identification of the location of the connection in the imaging system.

[0105] Example 3

[0106] The present embodiment provides a split Kirschner wire kit for an orthopedic surgical robot, which includes the split Kirschner wire for an orthopedic surgical robot as described in the above embodiment and one or more adapter needle rods 700. The adapter needle rod 700 includes a front connecting portion that can be detachably connected to the rear end of the front Kirschner wire body 10 and a rear connecting portion that can be detachably connected to the rear Kirschner wire body 200.

[0107] The detachable connection method of the present embodiment 3 can select the detachable method in the embodiment 1 or embodiment 2, so it will not be described in detail here.

[0108] When the selected front Kirschner wire body 100 has not reached the target position after being basically inserted during the operation, the front Kirschner wire body 100 and the rear Kirschner wire body 100 can be disassembled and separated, and an adapter needle rod 700 of a suitable length is selected and connected between the front Kirschner wire body 100 and the rear Kirschner wire body 100. Fig. 20 Then, the combination of the front Kirschner wire body 100, the adaptor needle rod 700 and the rear Kirschner wire body 100 is rotated and driven into the human tissue. After the front end of the front Kirschner wire body 100 reaches the target position, the movement of the combination is stopped, and then the adaptor needle rod 700 and the rear Kirschner wire body 100 are separated.

[0109] In the present application, the length of the adapter needle rod 700 of suitable length means that the length of the adapter needle rod 700 portion remaining outside the human tissue after separation satisfies

[0110] In order to accurately control the length of the adapter needle rod 700 portion remaining outside the human tissue after separation, multiple adapter needle rods 700 with different lengths can be provided. Furthermore, each adapter needle rod 700 can also be directly provided with a scale mark for marking the length of the adapter needle rod 700, further facilitating the selection of the user. If necessary, multiple adapter needle rods 700 can be connected between the front Kirschner wire body 100 and the rear Kirschner wire body 100.

[0111] The present invention provides a concept and method for a split Kirschner wire for an orthopedic surgical robot. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention. All components not specified in this embodiment can be implemented using existing technologies.

Claims

1. A split Kirschner wire for an orthopedic surgical robot, characterized in that: The invention comprises a front Kirschner wire body (100) for puncturing bones and a rear Kirschner wire body (200) for connecting to an end effector of an orthopedic surgery robot, wherein the front Kirschner wire body (100) is detachably connected to the rear Kirschner wire body (200).

2. The split Kirschner wire for an orthopedic surgical robot according to claim 1, characterized in that: A threaded joint (300) is provided between the front Kirschner wire body (100) and the rear Kirschner wire body (200); the threaded joint (300) includes a male thread portion (310) and a female thread portion (320), the male thread portion (310) includes an external thread segment (311), and the female thread portion (320) includes an internal thread segment (321) adapted to the thread of the external thread segment (311); the male thread portion (310) is formed on any one of the front Kirschner wire body (100) and the rear Kirschner wire body (200), and the female thread portion (320) is formed on the remaining one of the front Kirschner wire body (100) and the rear Kirschner wire body (200).

3. The split Kirschner wire for an orthopedic surgical robot according to claim 2, characterized in that: The male thread portion (310) is formed at the front end section of the rear Kirschner wire body (200), and the female thread portion (320) is formed at the rear end section of the front Kirschner wire body (100); the threads of the external thread section (311) and the internal thread section (321) are single-thread, double-thread or triple-thread.

4. The split Kirschner wire for an orthopedic surgical robot according to claim 2, characterized in that: The male threaded portion (310) further comprises a guide section (312), wherein the guide section (312) is arranged at one end of the male threaded portion (311) close to the screw-in direction of the female threaded portion (320); the guide section (312) is made of an elastic material, and when the threaded joint (300) is screwed in, the guide section (312) abuts against the female threaded portion (320).

5. The split Kirschner wire for an orthopedic surgical robot according to claim 4, characterized in that: The male thread portion (310) further comprises a first transition section (313) and a second transition section (314), wherein the first transition section (313) is arranged between the guide section (312) and the external thread section (311), and the first transition section (313) is a spring structure; and the second transition section (314) is arranged at one end of the external thread section (311) away from the guide section (312).

6. The split Kirschner wire for an orthopedic surgical robot according to claim 2, characterized in that: The front Kirschner wire body (100) comprises a needle head (110), wherein the needle head (110) and the threaded joint (300) are respectively located at two opposite ends of the front Kirschner wire body (100) along its length direction; The needle head (110) is a triangular needle head with a threaded shape, comprising a cylindrical needle body (111), the outer wall of the needle body (111) is formed with an external thread, the front end of the needle body (111) has a first section (1111), a second section (1112) and a third section (1113), the first section (1111), the second section (1112) and the third section (1113) are distributed along the circumference of the needle body (111) and enclosed to form a triangular pyramid; the intersection of any two adjacent first sections (1111), the second sections (1112) and the third sections (1113) constitutes an edge of the triangular pyramid, and the intersection point of the three edges of the triangular pyramid is located on the central axis of the needle body (111).

7. The split Kirschner wire for an orthopedic surgical robot according to claim 1, characterized in that: The posterior Kirschner wire body (200) comprises a holding section (211) for holding by the end effector of the robot, and the holding section (211) is in the shape of a cylindrical rod; the holding section (211) is arranged at the rear end of the posterior Kirschner wire body (200); Alternatively, a quick-connect connector (212) for connecting to the end effector of the orthopedic surgery robot is formed at the rear end of the rear Kirschner wire body (200).

8. The split Kirschner wire for an orthopedic surgical robot according to claim 1, characterized in that: The connection between the front Kirschner wire body (100) and the rear Kirschner wire body (200) is also provided with a docking mark (400) for identifying the connection; the side walls of the front Kirschner wire body (100) and the rear Kirschner wire body (200) are formed with length marks (500) for reading the insertion depth of the Kirschner wire.

9. The split Kirschner wire for an orthopedic surgical robot according to claim 1, characterized in that: A pluggable snap-on connector (600) is provided between the front Kirschner wire body (100) and the rear Kirschner wire body (200); the pluggable snap-on connector (600) comprises a pluggable female head portion (610) and a pluggable male head portion (620) which can be pluggable with each other, the pluggable female head portion (610) being formed on any one of the front Kirschner wire body (100) and the rear Kirschner wire body (200), and the pluggable male head portion (620) being formed on the remaining one of the front Kirschner wire body (100) and the rear Kirschner wire body (200); The male connector (620) comprises a connecting portion (621), a cross beam arm (622) and a protruding structure (623). Two cross beam arms (622) are provided and are arranged opposite to each other. One end of each cross beam arm (622) is connected to one end of the connecting portion (621) close to the insertion direction of the female connector (610). The other end of each cross beam arm (622) extends in a direction away from the insertion direction of the female connector (610). The outer side of the other end of each cross beam arm (622) is provided with a protruding structure (623). The female connector (610) comprises a receiving groove (611) matching the shape of the connecting portion (621). The inner side of the receiving groove is provided with a step (612) for hooking and engaging with the protruding structure (623). The cross section of the connecting portion (621) is rectangular, and the protruding structure (623) is a spherical convex point.

10. A split Kirschner wire kit for an orthopedic surgical robot, characterized in that: include: According to the split Kirschner wire for an orthopedic surgical robot according to claim 1, the split Kirschner wire comprises a front Kirschner wire body (100) and a rear Kirschner wire body (200); and one or more adapter needle rods (700), wherein the adapter needle rod (700) comprises a front end connection portion that can be detachably connected to the rear end of the front Kirschner wire body (100) and a rear end connection portion that can be detachably connected to the rear Kirschner wire body (200).

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