Neurosurgical minimally invasive surgery-oriented continuum robot

Abstract

The invention relates to a continuum robot for neurosurgery minimally invasive surgery, which comprises a reaming assembly comprising a first reaming disc, a second reaming disc located behind the first reaming disc, a plurality of first tendons used for driving the first reaming disc, and a plurality of second tendons used for driving the second reaming disc; the supporting assembly is used for supporting a subsequent space after the first broaching disc and the second broaching disc broach in place and comprises a plurality of groups of first intervertebral discs and a plurality of groups of second intervertebral discs which are the same as the first intervertebral discs in structure and are arranged in the opposite direction, and the first intervertebral discs and the second intervertebral discs are arranged on the first tendon and the second tendon in a staggered and penetrating mode in the front-back direction; the driving assembly is used for synchronously driving the first intervertebral disc or the second intervertebral disc to unlock or lock the first tendon or the second tendon, so that the first intervertebral disc or the second intervertebral disc is alternately fed along the first tendon and the second tendon. The continuous robot has compact space design and FTL characteristics, and wounds and infringement to the human body can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of continuum robots, and in particular to a continuum robot for minimally invasive neurosurgery. Background Art

[0003] In the field of neurosurgery, diseases such as epilepsy and Parkinson's disease require surgical operations deep in the brain, which have strict requirements on instrument size, operation accuracy and safety. Traditional rigid medical equipment is difficult to achieve precision operation, and the existing continuum surgical robots have advantages such as less trauma, active bending, and improved operation accuracy, but in specific surgical operations, they cannot follow the remote trajectory deployment and cannot accurately adjust the stiffness.

[0004] FTL (Follow-The-Leader) is a movement in which the subject follows the deployment of a remote trajectory. Existing methods for realizing FTL characteristics have inevitable limitations, such as the need for existing track constraint forms for tube wall constraints; the need for pre-bending of concentric tube configurations, weak loads, and complex control; and multi-drive control with more drive elements, larger size, and complex control.

[0005] The reaction force during surgical operation is a key factor affecting the control accuracy. Therefore, high stiffness during surgical operation helps to reduce the control error. The current variable stiffness adjustment method of continuum robots has unavoidable limitations, such as large fluid drive diameter, complex control, and leakage risk; SMA drive is a temperature control type that cannot adapt to the brain environment; magnetic drive has a small driving force and a very limited variable stiffness effect; although ordinary tendon traction control can avoid the above defects, it cannot achieve FTL characteristics.

[0006] Therefore, there is an urgent need to invent a tendon stretching stiffness mechanism based on a discrete joint configuration and capable of being combined with an FTL characteristic robot. Summary of the invention

[0007] In view of the above problems, a continuum robot for minimally invasive neurosurgery is provided, aiming to effectively solve the problems existing in the background technology.

[0008] The specific technical solutions are as follows:

[0009] A continuum robot for minimally invasive neurosurgery, comprising:

[0010] The reaming assembly includes a first reaming plate, a second reaming plate located behind the first reaming plate, a plurality of first tendons for driving the first reaming plate, and a plurality of second tendons for driving the second reaming plate;

[0011] A support assembly, used to support the subsequent space after the first reaming disc and the second reaming disc are reamed in place, comprising a plurality of first intervertebral discs and a plurality of second intervertebral discs having the same structure as the first intervertebral discs and arranged in the opposite direction, wherein the first intervertebral discs and the second intervertebral discs are alternately arranged on the first tendon and the second tendon in the front-back direction; and

[0012] The driving assembly is used for synchronously driving the first intervertebral disc or the second intervertebral disc to unlock or lock the first tendon or the second tendon, so that the first intervertebral disc or the second intervertebral disc is fed alternately along the first tendon and the second tendon.

[0013] Furthermore, the first tendon and the second tendon are alternately arranged along the circumferential direction, the top of the first tendon passes through the second reaming plate upward and is pivotally connected to the first reaming plate, and the second tendon is pivotally connected to the second reaming plate.

[0014] Furthermore, the first intervertebral disc and the second intervertebral disc have the same structure and both include an upper end cover and a lower end cover installed on the upper end cover, and the upper end cover and the lower end cover are inserted on the first tendon and the second tendon.

[0015] Furthermore, a plurality of claws are installed at intervals along the circumferential direction on the upper end cover, a plurality of clamping grooves matching with the claws are installed at intervals along the circumferential direction on the lower end cover, and the lower end cover is installed on the claws through the clamping grooves.

[0016] Furthermore, the driving component includes:

[0017] A plurality of limiting plates are installed on the upper end cover at intervals along the circumferential direction, and the first tendon or the second tendon is correspondingly inserted into the limiting plates; and

[0018] A plurality of limit pressure rings are rotatably mounted on the upper end cover, and limit flanges are installed on the limit pressure rings at intervals along the circumferential direction;

[0019] Among them, when the limiting pressure ring rotates and causes the limiting flange to squeeze the limiting plate, the limiting plate locks the first tendon or the second tendon; when the limiting pressure ring rotates and causes the limiting flange to separate from the limiting plate, the limiting plate unlocks the first tendon or the second tendon.

[0020] Furthermore, part of the limiting plate is installed in the limiting groove of the lower end cover, and the remaining part of the limiting plate passes through the limiting groove.

[0021] Furthermore, the driving component also includes:

[0022] A plurality of limiting sleeves are correspondingly installed on the lower end cover;

[0023] A plurality of ejector rods, the tops of the ejector rods correspondingly pass through the lower end cover and are slidably mounted on the limiting sleeve; and

[0024] A plurality of return springs are correspondingly arranged on the limit sleeve, a limit pressure ring is correspondingly arranged on the limit sleeve, and the bottom of the return spring abuts against the limit pressure ring;

[0025] Among them, when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and gets stuck in the limiting claw in the limiting sleeve, and the limiting flange squeezes the limiting plate, which locks the first tendon or the second tendon; when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and resets, the limiting flange disengages from the limiting plate, and the limiting plate unlocks the first tendon or the second tendon.

[0026] Furthermore, a plurality of guide slide blocks are installed at intervals along the circumferential direction on the inner wall of the push rod, a plurality of guide slide grooves are installed on the limiting sleeve, and the guide slide blocks are installed in the guide slide grooves.

[0027] Furthermore, the driving assembly also includes a center rod and a driving sleeve installed on the periphery of the center rod. The center rod passes through the first intervertebral disc, the second intervertebral disc, and the second reaming disc and is then installed on the first reaming disc. The driving sleeve is installed on the periphery of the center rod. The first intervertebral disc and the second intervertebral disc are passed through the driving sleeve. A locking joint is installed on the driving sleeve at the top of each first intervertebral disc or the bottom of the second intervertebral disc, and the spacing between adjacent locking joints is equal.

[0028] Furthermore, the support assembly also includes a plurality of first connecting lines and second connecting lines spaced apart along the circumferential direction, the first connecting line being passed through the first reaming disk, the second reaming disk, the first intervertebral disc and the second intervertebral disc, the second connecting line being passed through the second reaming disk, the first intervertebral disc and the second intervertebral disc, and the first connecting line is also connected to the first reaming disk and the first intervertebral disc, and the second connecting line is also connected to the second reaming disk and the second intervertebral disc.

[0029] The beneficial effects of the above scheme are:

[0030] 1) The locking joint in the continuous robot provided by the present invention is driven by a driving sleeve, which has a compact space design and FTL characteristics, can reduce trauma and damage to the human body, thereby alleviating the patient's pain, accelerating the recovery process, and reducing the risk of complications;

[0031] 2) The continuous robot variable stiffness characteristic provided by the present invention can be achieved by manually adjusting the driving sleeve 120, which is simple and convenient to operate, further reducing the difficulty and risk of operation, improving the reliability of the system, and effectively reducing the cost of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the main structure of a continuum robot provided in an embodiment of the present invention;

[0033] Figure 2It is a schematic diagram of the exploded structure of the support assembly and the drive assembly provided in the embodiment of the present invention;

[0034] Figure 3 It is a schematic diagram of assembling the support assembly and the drive assembly provided in an embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of the top view structure of the continuum robot provided in an embodiment of the present invention.

[0036] In the accompanying drawings: 10, first reaming disk; 20, second reaming disk; 30, first tendon; 40, second tendon; 50, first intervertebral disc; 501, upper end cover; 5011, claw; 502, lower end cover; 60, second intervertebral disc; 70, limiting plate; 80, limiting pressure ring; 801, limiting flange; 802, wedge block; 90, limiting sleeve; 901, limiting claw; 902, guide groove; 100, push rod; 110, return spring; 120, drive sleeve; 121, locking joint; 130, first connecting line; 140, second connecting line. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0040] like Figures 1 to 4As shown, the continuum robot provided in the embodiment of the present invention includes a reaming assembly, a supporting assembly and a driving assembly; the reaming assembly includes a first reaming disk 10, a second reaming disk 20 located behind the first reaming disk 10, three first tendons 30 for driving the first reaming disk 10, and three second tendons 40 for driving the second reaming disk 20; the supporting assembly is used to support the subsequent space after the first reaming disk 10 and the second reaming disk 20 are reamed in place, and includes three groups of first intervertebral discs 50, three groups of intervertebral discs 51 and 52; The first intervertebral disc 50 and the second intervertebral disc 60 are arranged in the same structure and in the opposite direction, and the first intervertebral disc 50 and the second intervertebral disc 60 are staggered and penetrated on the first tendon 30 (which can be made of 0.6 mm nickel-titanium alloy wire) and the second tendon 40 (which can be made of 0.6 mm nickel-titanium alloy wire) in the front-back direction; the driving component is used to synchronously drive the first intervertebral disc 50 or the second intervertebral disc 60 to unlock or lock the first tendon 30 or the second tendon 40, so that the first intervertebral disc 50 or the second intervertebral disc 60 is fed alternately along the first tendon 30 and the second tendon 40.

[0041] like Figure 1 , Figure 3 , Figure 4 As shown, in the present invention, three first tendons 30 and three second tendons 40 are staggered in the circumferential direction. The top of the first tendon 30 passes through the intervertebral disc and the second reaming disc 20 upwards and is pivoted to the first reaming disc 10. The second tendon 40 passes through the intervertebral disc upwards and is pivoted to the second reaming disc 20. A first connecting line 130 is inserted between the first reaming disc 10, the second reaming disc 20 and each intervertebral disc. A second connecting line 140 is inserted between the second reaming disc 20 and each intervertebral disc. The first connecting line 130 is also connected to the first reaming disc 10 and the three first intervertebral discs 50. The second connecting line 140 is also connected to the second reaming disc 20 and the three second intervertebral discs 60. Under the structure, the first intervertebral disc 50 can be moved forward under the drive of the first reaming disc 10 through the first connecting line 130, and the second intervertebral disc 60 can be moved forward under the drive of the second reaming disc 20 through the second connecting line 140; when in use, the first intervertebral disc 50 unlocks the tendon, and then the first reaming disc 10 can be pushed forward to an appropriate position through the three first tendons 30 (the first intervertebral disc 50 is synchronously moved forward under the drive of the first reaming disc 10 and the first connecting lines 130 thereon), the first intervertebral disc 50 locks the tendon again, and then the second intervertebral disc 60 unlocks the tendon, and at this time the second reaming disc 20 is pushed forward through the three second tendons 40, so that the second reaming disc 20 slides along the first tendons 30 to an appropriate position.

[0042] It is not difficult to understand that in the present invention, the respective forward pushing distances of each group of three tendons can be adjusted according to the bending requirements, so as to adjust the reaming disk to deflect around the center position of the reaming disk, thereby realizing the bending of the robot head.

[0043] The first intervertebral disc 50 and the second intervertebral disc 60 in the present invention have the same structure and both include an upper end cover 501 and a lower end cover 502 installed on the upper end cover 501. A plurality of claws 5011 are installed at intervals along the circumferential direction on the upper end cover 501, and a plurality of engaging grooves matching the claws 5011 are installed at intervals along the circumferential direction on the lower end cover 502. The lower end cover 502 is engaged with the claws 5011 via the engaging grooves.

[0044] To alternately drive the first intervertebral disc 50 and the second intervertebral disc 60 to feed, Figure 1 , Figure 2 , Figure 3 As shown, the above-mentioned driving assembly includes eighteen limiting plates 70 and six limiting pressure rings 80; three limiting plates 70 are installed on each lower end cover 502 along the circumferential spacing direction, and three first tendons 30 or three second tendons 40 are correspondingly inserted into the limiting plates 70; each limiting pressure ring 80 is rotatably installed on the lower end cover 502, and six limiting flanges 801 are installed on the limiting pressure ring 80 along the circumferential direction at intervals; under the above-mentioned structure, when the limiting pressure ring 80 rotates 30° and makes the limiting flange 801 correspondingly squeeze the limiting plate 70, the limiting plate 70 locks the first tendon 30 or the second tendon 40 (such as Figure 3 When the limiting pressure ring 80 rotates 30° again and the limiting flange 801 is disengaged from the limiting plate 70, the limiting plate 70 unlocks the first tendon 30 or the second tendon 40. Figure 2 , Figure 3 For example, a portion of the "U"-shaped limiting plate 70 is installed in the limiting groove of the lower end cover 502, and the remaining portion of the limiting plate 70 passes through the limiting groove. A total of six tendons are passed through the lower end cover 502 of the second intervertebral disc 60, namely, three first tendons 30 and three second tendons 40. In fact, when the limiting pressure ring 80 rotates 30° and the limiting flange 801 compresses the limiting plate 70, the contact area between the limiting plate 70 and the second tendon 40 increases, thereby locking the second tendon 40 with the help of the increased friction force; when the limiting pressure ring 80 rotates 30° again to separate the limiting flange 801 from the limiting plate 70, the limiting plate 70 unlocks the second tendon 40. Similarly, the unlocking or locking principle of the first tendon 30 on the lower end cover 502 of the first intervertebral disc 50 is the same as above.

[0045] In order to realize the FTL characteristic, the robot of the present invention adopts a feeding method in which the joint group A (three groups of first intervertebral discs 50) and the joint group B (three groups of second intervertebral discs 60) are fed alternately. When the robot is feeding forward, each feeding motion is that the first intervertebral disc 50 is fed forward along the track formed by the second intervertebral disc 60, and then the second intervertebral disc 60 is fed along the track formed by the first intervertebral disc 50 by the same distance. When the first intervertebral disc 50 is advanced, the first intervertebral disc 50 is in an unlocked state, and the second intervertebral disc 60 is in a locked state. At this time, the lengths of the second intervertebral disc tendons (i.e., the second tendons 40) between the second intervertebral discs 60 are locked. Since each tendon is mutually constrained, the second intervertebral disc 60 and the second intervertebral disc tendons have greater rigidity and can maintain the current shape. Thus, the second intervertebral disc 60 and the second intervertebral disc tendons serve as the track for the first intervertebral disc 50 to be advanced, so that the first intervertebral disc 50 is advanced along the track for a certain distance. Similarly, when the second intervertebral disc 60 is advanced, the second intervertebral disc tendons 40 are locked. The intervertebral disc 60 is in an unlocked state, and the first intervertebral disc 50 is in a locked state. At this time, the length of each segment of the first intervertebral disc tendon (i.e., the first tendon 30) between the first intervertebral discs 50 is locked. Since each tendon is mutually constrained, the first intervertebral disc 50 and the first intervertebral disc tendon have greater rigidity and can maintain the current shape, so that the first intervertebral disc 50 and the first intervertebral disc tendon act as the track for feeding the second intervertebral disc 60, so that the second intervertebral disc 60 is fed along the track by the same distance, so that the first intervertebral disc 50 and the second intervertebral disc 60 are in contact with each other, thereby completing a feeding movement. Repeating the above movement process, the farthest end of the robot can be controlled to move to the target position of the operation. Similarly, when the robot is feeding in reverse, each feeding movement is that the second intervertebral disc is fed forward along the track formed by the first intervertebral disc, and then the first intervertebral disc is fed along the track formed by the second intervertebral disc by the same distance until the robot returns to the initial state.

[0046] In order to synchronously drive the first intervertebral disc 50 and the second intervertebral disc 60, the present invention provides a driving structure with reference to the principle of pressing a button in a pen-like article in the prior art. Figure 1 , Figure 2 , Figure 3As shown, the drive assembly in the present invention also includes six limiting sleeves 90, which are correspondingly installed on the lower end cover 502; six push rods 100, the top of the push rod 100 passes through the upper end cover 501 and is slidably installed on the limiting sleeve 90; and six return springs 110, which are correspondingly inserted on the limiting sleeve 90, and the limiting pressure ring 80 is correspondingly inserted on the limiting sleeve 90, and the bottom of the return spring 110 abuts on the limiting pressure ring 80; under the above structure, when the push rod 100 slides After the limit ring 80 is moved and pushed to move a certain distance, the limit ring 80 rotates and snaps into the limit claw 901 in the limit sleeve 90, and when the limit flange 801 squeezes the limit sheet 70, the limit sheet 70 locks the first tendon 30 or the second tendon 40; when the push rod 100 slides and pushes the limit ring 80 to move a certain distance, the limit ring 80 rotates and resets, the limit flange 801 is separated from the limit sheet 70, and the limit sheet 70 unlocks the first tendon 30 or the second tendon 40. In order to facilitate the operation of the push rod 100, in the present invention, a plurality of guide sliders 1001 are installed at intervals along the circumferential direction on the inner wall of the push rod 100, and a plurality of guide slots 902 are installed on the limit sleeve 90, and the guide sliders 1001 are installed in the guide slots 902.

[0047] Furthermore, in order to synchronously drive the first intervertebral disc 50 and the second intervertebral disc 60, as shown in FIG. Figure 1 , Figure 3 As shown, the drive assembly in the present invention also includes a center rod and a drive sleeve 120 installed on the periphery of the center rod. The center rod passes through the first intervertebral disc 50, the second intervertebral disc 60, and the second reaming disc 20 and is then installed on the first reaming disc 10. The drive sleeve 120 is installed on the periphery of the center rod. The first intervertebral disc 50 and the second intervertebral disc 60 are passed through the drive sleeve 120, and a locking joint 121 is installed on the drive sleeve 120 at the top of each first intervertebral disc 50 or the bottom of the second intervertebral disc 60, and the spacing between adjacent locking joints 121 is equal. Under the above structure, the drive sleeve 120 is pushed or pulled back to push the top rod 100 with the help of the locking joint 121 on the drive sleeve 120 to synchronously drive the three limiting pressure rings 80 on the intervertebral disc, so that the three limiting pressure rings 80 synchronously lock the first tendon 30 (or the second tendon 40).

[0048] like Figure 4 As shown, in order to ensure that the first intervertebral disc 50 and the second intervertebral disc 60 can move forward synchronously with the reaming disc, the support assembly can also include four connecting lines arranged at intervals along the circumferential direction, and the connecting lines are passed through the first reaming disc 10, the second reaming disc 20, the first intervertebral disc 50 and the second intervertebral disc 60.

[0049] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A continuum robot for minimally invasive neurosurgery, characterized in that: include: A reaming assembly, comprising a first reaming plate, a second reaming plate located behind the first reaming plate, a plurality of first tendons for driving the first reaming plate, and a plurality of second tendons for driving the second reaming plate; A support assembly, used for supporting subsequent space after the first reaming disc and the second reaming disc are reamed in place, comprising a plurality of first intervertebral discs and a plurality of second intervertebral discs arranged in the opposite direction to the first intervertebral discs, wherein the first intervertebral discs and the second intervertebral discs are staggered and penetrated on the first tendon and the second tendon in the front-back direction; as well as A driving assembly is used for synchronously driving the first intervertebral disc or the second intervertebral disc to unlock or lock the first tendon or the second tendon, so that the first intervertebral disc or the second intervertebral disc is alternately fed along the first tendon or the second tendon.

2. The continuum robot for minimally invasive neurosurgery according to claim 1, characterized in that: The first tendon and the second tendon are staggered in the circumferential direction. The top of the first tendon passes through the second reaming disk upward and is pivotally connected to the first reaming disk. The second tendon is pivotally connected to the second reaming disk.

3. The continuum robot for minimally invasive neurosurgery according to claim 1, characterized in that: The first intervertebral disc and the second intervertebral disc have the same structure and both include an upper end cover and a lower end cover installed on the upper end cover. The upper end cover and the lower end cover are inserted on the first tendon and the second tendon.

4. The continuum robot for minimally invasive neurosurgery according to claim 3, characterized in that: The upper end cover is provided with a plurality of claws at intervals along the circumferential direction, and the lower end cover is provided with a plurality of clamping grooves matching with the claws at intervals along the circumferential direction, and the lower end cover is installed on the claws through the clamping grooves.

5. The continuum robot for minimally invasive neurosurgery according to claim 3, characterized in that: The drive assembly comprises: A plurality of limiting plates are installed on the lower end cover at intervals along the circumferential direction, and the first tendon or the second tendon is correspondingly inserted into the limiting plates; and A plurality of limiting pressure rings are rotatably mounted on the lower end cover, and limiting flanges are installed on the limiting pressure rings at intervals along the circumferential direction; Among them, when the limiting pressure ring rotates and causes the limiting flange to squeeze the limiting plate, the limiting plate locks the first tendon or the second tendon; when the limiting pressure ring rotates and causes the limiting flange to disengage from the limiting plate, the limiting plate unlocks the first tendon or the second tendon.

6. The continuum robot for minimally invasive neurosurgery according to claim 5, characterized in that: Part of the limiting piece is installed in the limiting groove of the lower end cover, and the remaining part of the limiting piece passes through the limiting groove.

7. The continuum robot for minimally invasive neurosurgery according to claim 5, characterized in that: The drive assembly also includes: A plurality of limiting sleeves are correspondingly mounted on the lower end cover; A plurality of push rods, the tops of which pass through the upper end cover and are slidably mounted on the limiting sleeve; and A plurality of return springs are correspondingly arranged on the limiting sleeve, the limiting pressure ring is correspondingly arranged on the limiting sleeve, and the bottom of the return spring abuts against the limiting pressure ring; Among them, when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and gets stuck in the limiting groove in the limiting sleeve, and when the limiting flange squeezes the limiting plate, the limiting plate locks the first tendon or the second tendon; when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and resets, the limiting flange disengages from the limiting plate, and the limiting plate unlocks the first tendon or the second tendon.

8. The continuum robot for minimally invasive neurosurgery according to claim 7, characterized in that: A plurality of guide sliding blocks are installed on the inner wall of the push rod at intervals along the circumferential direction, a plurality of guide sliding grooves are installed on the limiting sleeve, and the guide sliding blocks are installed in the guide sliding grooves.

9. The continuum robot for minimally invasive neurosurgery according to claim 7 or 8, characterized in that: The driving assembly also includes a center rod and a driving sleeve installed on the periphery of the center rod. The center rod passes through the first intervertebral disc, the second intervertebral disc, and the second reaming disc and is then installed on the first reaming disc. The driving sleeve is installed on the periphery of the center rod. The first intervertebral disc and the second intervertebral disc are passed through the driving sleeve. A driving locking joint is installed on the driving sleeve at the top of each of the first intervertebral discs or the bottom of the second intervertebral disc, and the spacing between adjacent driving locking joints is equal.

10. The continuum robot for minimally invasive neurosurgery according to claim 1, characterized in that: The support assembly also includes a plurality of first connecting lines and second connecting lines spaced apart along the circumferential direction, the first connecting line being passed through the first reaming disk, the second reaming disk, the first intervertebral disc and the second intervertebral disc, the second connecting line being passed through the second reaming disk, the first intervertebral disc and the second intervertebral disc, and the first connecting line is also connected to the first reaming disk and the first intervertebral disc, and the second connecting line is also connected to the second reaming disk and the second intervertebral disc.

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