Locking screw, robot and method

Abstract

The invention discloses a locking screw, a robot and a method, solves the problem that in the prior art, the fastening end of the locking screw is prone to damage, and has the beneficial effect that the locking screw is prevented from being damaged, according to the specific scheme, the locking screw comprises a screw body, and the fastening end of the screw body is provided with a concave part; a tail wing is movably arranged at the fastening end of the screw body, the length of the tail wing is larger than that of the fastening end of the screw body, a first concave part is formed in the hollow position of the tail wing and can be clamped with a locking screw screwing-in device, the depth of the first concave part is larger than that of a concave part at the fastening end of the screw body, and a clamping groove is formed in the length direction of the tail wing. The clamping groove can be clamped with the locking screw and the screw frame, the clamping groove is communicated with the first concave part, and the sectional size of the first concave part is larger than that of the concave part of the fastening end of the screw body.

Description

Technical Field

[0001] The present invention relates to the field of screw insertion, and in particular to a locking screw, a robot and a method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In orthopedic robot-assisted long bone fracture reduction surgery, robotic bone screw placement technology is gradually replacing traditional manual screw placement methods. This technological innovation can significantly reduce the operator's physical exertion and improve surgical efficiency. However, during the implementation of automated plate and screw internal fixation, a key technical bottleneck was exposed: the screw tail cap interface (including a slot, a cross slot, or a hexagonal structure) and the high-speed rotation characteristics of the bone drill power tool have compatibility defects.

[0004] It is mainly manifested in the following aspects:

[0005] The matching accuracy between the driver head and the nail cap is insufficient, and the driver head cannot be directly inserted into the nail cap;

[0006] The dynamic vibration generated under high-speed rotation state intensifies the interface stress concentration, causing a significant increase in the damage rate of the nail cap structure, resulting in the inability to support the insertion of the screw, or after implantation, difficulty in secondary surgery due to deformation of the nail cap structure. This technical difficulty has seriously affected the clinical transformation efficiency of the robotic bone fixation system. Summary of the invention

[0007] In view of the deficiencies in the prior art, an object of the present invention is to provide a locking screw, which effectively increases the contact area with the screwing device and avoids damage to the screw body.

[0008] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0009] A locking screw comprises a screw body, the fastening end of the screw body has a recess, a tail wing is movably arranged at the fastening end of the screw body, a first recess is formed in the hollow part of the tail wing, the first recess can be engaged with a locking screw screwing device, the depth of the first recess is greater than the depth of the recess at the fastening end of the screw body, the first recess can be engaged with the locking screw screwing device, the depth of the first recess is greater than the depth of the recess at the fastening end of the screw body, a slot is arranged along the length direction of the tail wing, the slot can be engaged with a locking screw nail supply frame, the slot is connected to the first recess, and the cross-sectional size of the first recess is greater than the size of the recess at the fastening end of the screw body.

[0010] A locking screw as described above, wherein the tail wing comprises two half-ring structures, the two half-ring structures are spaced apart to form the slot, the half-ring structure is provided with an inward convex portion at the slot, and the convex portion is spaced apart from the fastening end of the screw body to ensure the depth of the slot;

[0011] The inner side and the outer side of the semi-ring structure are both provided with protrusions or openings to be snap-connected with the tail wing removal device to prevent the removed displacement from falling into the body.

[0012] A locking screw as described above, in which, considering the structural setting, the length of the tail wing is smaller than the length of the screw body;

[0013] In order to ensure symmetrical arrangement and force balance, the tail wing is provided with two of the above-mentioned slots, and the two convex parts on the same side of the two slots are arranged at a distance.

[0014] In a locking screw as described above, the transverse cross-sectional shape of the slot is trapezoidal, which facilitates the removal of the tail wing. The width of the slot at the outer annular surface of the tail wing is greater than its width at the inner annular surface of the tail wing, which facilitates the cooperation between the slot and the locking screw fixing frame.

[0015] In a locking screw as described above, the recess includes a second recess arranged at the center of the fastening end of the screw body, and a third recess is arranged on the side of the second recess at the fastening end of the screw body. The third recess can be aligned with the slot at the tail wing, and the third recess can be engaged with the locking screw nail supply frame.

[0016] In the second aspect, the present invention provides a robot, including a locking screw nail supply rack, the locking screw nail supply rack includes a support frame, the support frame is rotatable, a plurality of channels are arranged inside the support frame, the interval between two adjacent channels is set at a set angle, a limited position section is arranged in each channel, the limit section is engaged with the locking screw, so as to ensure that the position angle of the locking screw is fixed.

[0017] A robot as described above also includes a locking screw screwing device, which includes a first rod body, which is used to cooperate with the locking screw. The first rod body is rotatable, and the end of the first rod body can be inserted into the first recess to screw the screw body into the object to be fixed through the tail wing.

[0018] The robot as described above further comprises a tail wing removal device, the tail wing removal device comprising a second rod body, the second rod body is used to remove the tail wing, the shape of the end of the second rod body is adapted to the shape of one side of the tail wing, a fourth recess is arranged at the end of the second rod body, one side of the tail wing can be inserted into the fourth recess, the depth of the fourth recess is less than the length of the tail wing, and the bottom end of the fourth recess is closed;

[0019] An arc segment and a fan segment are arranged at the end of the second rod body, and a fourth recess is formed between the arc segment and the fan segment. The inner side surface of the arc segment and the outer side surface of the fan segment can be respectively engaged and connected with the tail wing and the protrusion or opening at the semi-ring structure.

[0020] The robot as described above further includes a screw body removal device, which includes a third rod body, which is used to remove the screw body, and the end of the third rod body can be engaged with the fastening end of the screw body.

[0021] In a third aspect, the present invention further provides a working method of a locking screw, comprising the following contents:

[0022] A tail wing is arranged at the fastening end of the screw body, the tail wing is provided with a first recess, and the tail wing is provided with a slot;

[0023] Place the locking screw into the locking screw supply rack, and engage the tail wing slot with the locking screw supply rack to ensure the stability of the locking screw position;

[0024] The screw body is screwed into the object to be fixed through the tail wing;

[0025] After the screw body is fixed, remove the tail wing.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1) The present invention provides a locking screw, which includes two parts, one part is a screw body and the other part is a tail wing. The tail wing is provided with a first recess, and the first recess can be engaged with a locking screw screwing device. The depth of the first recess is greater than the depth of the recess at the fastening end of the screw body. In this way, the screwing device does not need to be engaged with the screw body, thereby preventing the screwing device from rotating at a high speed from damaging the screw body. Moreover, the size of the first recess is greater than the size of the recess at the fastening end of the screw body, thereby facilitating the screwing device to be engaged with the first recess. Moreover, the depth of the first recess is greater than the depth of the recess at the fastening end of the screw body, thereby making it easy for the screwing device to be engaged with the first recess. In this way, the entire locking screw is not easily damaged and its stability is greatly improved.

[0028] 2) The tail wing structure of the present invention is reasonably arranged. The tail wing includes two half-ring structures, so that a groove is formed between the two half-ring structures, and the half-ring structure is provided with an inward convex portion at the groove, so as to ensure the stable engagement of the tail wing and the locking screw screwing device. The arrangement of the tail wing is equivalent to extending the length of the screw body (partial extension of the screw body when it is alone in the channel can easily cause the screw body to tilt), effectively ensuring that the locking screw is in the center position of the channel, so that the locking screw will not be deflected when inserted.

[0029] 3) The transverse cross-sectional shape of the card slot in the present invention is a trapezoid, which not only facilitates the cooperation between the tail wing and the locking screw supply frame, but also the tail wing semi-ring structure is provided with a protrusion or opening to achieve engagement with the tail wing removal device. After the screw body is inserted, it is convenient to remove the tail wing and prevent the removed tail wing from falling into the body.

[0030] 4) In the present invention, a second recess is provided on the screw body to facilitate its removal, and a third recess is also provided on the screw body. The third recess has the same shape as the slot of the tail wing, and the two can be aligned and can be engaged with the locking screw supply frame.

[0031] 5) The locking screw nail supply rack structure of the present invention is reasonably arranged, and is provided with multiple channels. Limiting sections cooperating with the tail wing slots are arranged in the channels to ensure that each locking screw can only be placed in a fixed position. In this way, every time the support frame rotates a set angle, the locking screw is at that position. The robot only needs to position the nail supply rack to realize the positioning of the locking screw position, which is convenient for the precise positioning of the locking screw, so that the locking screw screwing device is conveniently inserted into the first recess of the tail wing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 is a schematic diagram of a locking screw according to one or more embodiments of the present invention Figure 1 .

[0034] Figure 2 is a schematic diagram of a locking screw according to one or more embodiments of the present invention Figure 2 .

[0035] Figure 3 It is a front view of a locking screw supply rack in a robot according to one or more embodiments of the present invention.

[0036] Figure 4 It is an enlarged schematic diagram of a first rod end in a locking screw screwing device in a robot according to one or more embodiments of the present invention.

[0037] Figure 5 Schematic diagram of a robot mid-tail wing removal device according to one or more embodiments of the present invention.

[0038] Figure 6 It is an enlarged schematic diagram of the end of a second rod in a tail wing removal device of a robot according to one or more embodiments of the present invention.

[0039] Figure 7It is an enlarged schematic diagram of a wedge-shaped protrusion provided at the end of the second rod body in a tail wing removal device of a robot according to one or more embodiments of the present invention.

[0040] Figure 8 It is a schematic diagram of a screw body removal device in a robot according to one or more embodiments of the present invention.

[0041] Fig. 9 It is an enlarged schematic diagram of the end of a third rod in a screw body removal device in a robot according to one or more embodiments of the present invention.

[0042] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0043] Wherein: 1. Screw body, 2. Tail wing, 3. Locking screw supply rack, 4. Locking screw screwing device, 5. Tail wing removal device, 6. Screw body removal device;

[0044] 1-1. The third recess, 1-2. The fastening end;

[0045] 2-1. Card slot, 2-2. Protrusion, 2-3. First concave portion;

[0046] 3-1. channel, 3-2. limit section;

[0047] 4-1. The first rod body, 4-2. The fifth recess;

[0048] 5-1. The second rod, 5-2. The arc segment, 5-3. The fan segment, 5-4. The fourth recess;

[0049] 6-1. The third rod body, 6-2. The second convex part, 6-3. The third convex part. DETAILED DESCRIPTION

[0050] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0052] As introduced in the background technology, the prior art has the problem that the fastening end of the locking screw is easily damaged. In order to solve the above technical problem, the present invention proposes a locking screw.

[0053] Embodiment 1

[0054] In a typical embodiment of the present invention, reference is made to Figure 1 and Figure 2 As shown, a locking screw comprises a screw body 1, the fastening end (nut end) of the screw body 1 has a recess, a tail wing 2 is movably arranged at the fastening end 1-2 of the screw body, a first recess 2-3 can be engaged with a locking screw screwing device 4, the depth of the first recess is greater than the depth of the recess at the fastening end 1-2 of the screw body, the first recess can be engaged with the locking screw screwing device 4, the depth of the first recess is greater than the depth of the recess at the fastening end 1-2 of the screw body, a slot 2-1 is arranged along the length direction of the tail wing 2, the slot 2-1 can be engaged with a locking screw nail supply frame 3, the slot 2-1 is connected to the first recess 2-3, and the cross-sectional size of the first recess 2-3 is greater than the size of the recess at the fastening end of the screw body.

[0055] In this embodiment, the tail wing 2 includes two half-ring structures, the outer diameter of the tail wing 2 is larger than the outer diameter of the fastening end of the screw body, the inner diameter of the tail wing 2 is larger than the inner diameter of the second recess of the fastening end, and the two half-ring structures are spaced apart to form a slot 2-1. The semi-ring structure is provided with an inward protrusion 2-2 at the slot 2-1, and the protrusion 2-2 is spaced apart from the fastening end 1-2 of the screw body.

[0056] Moreover, it is easy to understand that both the inner side and the outer side of the semi-ring structure are provided with openings for engaging and connecting with the tail removal device.

[0057] Considering the structural setting, the length of the tail wing 2 is less than the length of the screw body 1, the length of the tail wing 2 is greater than 1 / 2 of the length of the screw body 1, and the length of the tail wing 2 is less than 5 / 6 of the length of the screw body 1;

[0058] In order to ensure symmetry and force balance, the tail wing 2 is provided with two slots 2-1, and the two convex portions 2-2 on the same side of the two slots 2-1 are spaced apart.

[0059] It is easy to understand that the transverse cross-section of the slot 2-1 is a trapezoid, and the width of the slot 2-1 at the outer annular surface of the tail is greater than its width at the inner annular surface of the tail, which facilitates the cooperation between the slot and the locking screw fixing frame.

[0060] It needs to be explained that the recess includes a second recess arranged at the center of the fastening end of the screw body, and the fastening end of the screw body is provided with a third recess 1-1 on the side of the second recess, and the third recess 1-1 can be aligned with the slot at the tail wing, and the third recess 1-1 can be engaged with the locking screw nail supply frame 3. To ensure that the screw body is screwed in smoothly, the third recess 1-1 passes through the fastening end of the screw body 1, and the third recess 1-1 is provided at two locations, and the two third recesses are arranged on the same plane.

[0061] In this embodiment, the second recess may be a hexagonal recess.

[0062] The locking screw provided in this embodiment includes two parts, one part is a screw body 1, and the other part is a tail wing 2. The tail wing 2 is provided with a first recess 2-3, and the first recess 2-3 can be engaged with a locking screw screwing device. The depth of the first recess 2-3 is greater than the depth of the recess at the fastening end of the screw body. In this way, the screwing device does not need to be engaged with the screw body 1, thereby preventing the screwing device from rotating at a high speed from damaging the screw body 1. Moreover, the size of the first recess 2-3 is the same as the size of the recess at the fastening end of the screw body, thereby making it convenient for the screwing device to be engaged with the first recess 2-3. Moreover, the depth of the first recess is greater than the depth of the recess at the fastening end of the screw body. In this way, the entire locking screw is not easily damaged, and the stability is greatly improved.

[0063] Embodiment 2

[0064] This embodiment provides a robot, including a locking screw supply frame 3, referring to Figure 3 As shown, the locking screw nail supply frame 3 includes a support frame, which is connected to a motor or a servo so that the support frame can rotate at a set angle. A plurality of channels 3-1 are arranged inside the support frame, and a set angle is set between two adjacent channels 3-1. A limited position section 3-2 is arranged in each channel, and the limited position section 3-2 is engaged with a locking screw described in Example 1 to facilitate the insertion of the locking screw and ensure that the position of the locking screw is fixed after insertion.

[0065] In this embodiment, the support frame is provided with 12 holes 3-1, and the interval between two adjacent holes is 30 degrees. After being able to rotate at a fixed angle each time, the locking screws are operated. The 12 locking screws are sufficient to ensure the stability of fracture fixation.

[0066] Specifically, two limiting sections 3-2 are provided, the two limiting sections are located in the same plane, and the length of the limiting section is greater than the length of the slot, so that the limiting section cooperates with the tail wing slot and the third recess at the fastening end of the screw body.

[0067] It should be noted that the locking screw nail supply frame 3 is fixed to the robot, and the robot drives the locking screw nail supply frame to rotate and drives the locking screw nail supply frame 3 to move.

[0068] In this embodiment, the robot also includes a locking screw screwing device 4, referring to Figure 4 As shown, the locking screw screwing device 4 includes a first rod body 4-1, which is used to cooperate with a locking screw. The first rod body 4-1 is rotatable, and the end of the first rod body 4-1 can be inserted into the first recess 2-3 to screw the screw body 1 into the object to be fixed through the tail wing 2.

[0069] Among them, the first rod body 4-1 itself is a screwdriver, the difference is that: the first rod body 4-1 is used to engage with the tail wing, the shape of the end of the first rod body 4-1 is compatible with the shape of the first recess 2-3, and the fifth recess 4-2 is respectively arranged on both sides of the side of the first rod body 4-1 used to cooperate with the tail wing 2 to cooperate with the tail wing 2.

[0070] It is easy to understand that the robot also includes a tail removal device 5, referring to Figure 5 and Figure 6 As shown, the tail wing removal device 5 includes a second rod body 5-1, which is used to remove the tail wing 2. The shape of the end of the second rod body 5-1 is adapted to the shape of one side of the tail wing 2. A fourth recess 5-4 is set at the end of the second rod body 5-1, and one side of the tail wing 2 can be inserted into the fourth recess 5-4.

[0071] In this embodiment, the second rod body itself is a screwdriver, the difference is: an arc segment 5-2 and a fan segment 5-3 are set at the end of the second rod body 5-1, the arc length of the fan segment 5-3 is determined by the arc length between the convex parts on both sides of the semi-ring structure, and a fourth recess 5-4 is formed between the arc segment 5-2 and the fan segment 5-3. The distance between the arc segment and the fan segment is adapted to the thickness of the semi-ring structure on the same side, so that the semi-ring structure on one side of the tail wing 2 can be inserted into the fourth recess 5-4, and the fan segment 5-3 can contact the convex part 2-2 at the semi-ring structure on one side. The bottom of the fourth recess is closed, and the length of the fourth recess is less than the length of the tail wing 2.

[0072] refer to Figure 7 As shown, the inner side surface of the arc segment and the outer side surface of the fan-shaped segment can be respectively engaged with the tail wing, and two wedge-shaped protrusions 5-5 are provided on the inner side surface of the arc segment, and two wedge-shaped protrusions 5-5 are also provided on the outer side surface of the fan-shaped segment to engage with the opening at the semi-ring structure. In this way, the tail wing removal device is engaged with the tail wing, and the tail wing 2 is smoothly removed from the locking screw, so that the tail wing will not be scratched out of the tail wing removal device 5, and will be completely taken out without being left in the body.

[0073] It should be noted that the screw body removal device 6 is also included, referring to Figure 8 and Fig. 9As shown, the screw body removal device 6 includes a third rod 6-1, which is a screwdriver itself. The difference between the third rod 6-1 and a screwdriver is that the third rod 6-1 is used to remove the screw body 1, and the end of the third rod 6-1 can be engaged with the fastening end of the screw body.

[0074] In this embodiment, a second protrusion 6-2 is arranged at the center of the end of the third rod body 6-1, and third protrusions 6-3 are arranged on both sides of the second protrusion 6-2 of the third rod body. The shape of the third protrusion 6-3 is adapted to the shape of the slot, and a distance is set between the third protrusion and the second protrusion, so that it is convenient to remove the screw body.

[0075] Embodiment 3

[0076] This embodiment discloses a working method of a locking screw, including the following contents:

[0077] A tail wing is provided at the fastening end of the screw body 1, a first recess is provided at the tail wing 2, and a clamping groove is provided at the tail wing 2;

[0078] Place the locking screw into the locking screw supply frame 3, and the tail wing slot engages with the locking screw supply frame 3 to ensure the stability of the locking screw position;

[0079] The locking screw screwing device is inserted into the tail wing 2, and the locking screw screwing device screws the screw body into the object to be fixed through the tail wing 2;

[0080] The tail wing removal device 5 is inserted into one side of the tail wing, so that the tail wing 2 is removed relative to the screw body 1;

[0081] After the fracture heals, the screw body 1 is removed by the screw body removal device 6 .

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A locking screw, characterized in that: It includes a screw body, the fastening end of the screw body has a recess, a tail wing is movably arranged at the fastening end of the screw body, a first recess is formed in the hollow part of the tail wing, the first recess can be engaged with a locking screw screwing device, the depth of the first recess is greater than the depth of the recess at the fastening end of the screw body, the first recess can be engaged with the locking screw screwing device, the depth of the first recess is greater than the depth of the recess at the fastening end of the screw body, a slot is arranged along the length direction of the tail wing, the slot can be engaged with a locking screw nail supply rack, the slot is connected to the first recess, and the cross-sectional size of the first recess is greater than the size of the recess at the fastening end of the screw body.

2. A locking screw according to claim 1, characterized in that: The tail wing comprises two half-ring structures, the two half-ring structures are spaced apart to form the slot, the half-ring structure is provided with an inward convex portion at the slot, and the convex portion is spaced apart from the fastening end of the screw body; The inner side surface and the outer side surface of the semi-ring structure are both provided with protrusions or openings.

3. A locking screw according to claim 2, characterized in that: The length of the tail wing is smaller than the length of the screw body; The tail wing is provided with two of the above-mentioned slots, and the two convex parts at the same side of the two slots are arranged at a distance.

4. A locking screw according to claim 1, characterized in that: The transverse cross-sectional shape of the clamping groove is a trapezoid, and the width of the clamping groove at the outer annular surface of the tail wing is greater than the width of the clamping groove at the inner annular surface of the tail wing.

5. The locking screw according to claim 1, characterized in that: The recess includes a second recess arranged at the center of the fastening end of the screw body, and a third recess is arranged on the side of the second recess at the fastening end of the screw body. The third recess can be aligned with the slot at the tail wing, and the third recess can be engaged with the locking screw supply frame.

6. A robot, characterized in that: It comprises a locking screw nail supply rack, which comprises a support frame, the support frame is rotatable, a plurality of channels are arranged inside the support frame, the interval between two adjacent channels is set at a set angle, a limited position section is arranged in each channel, and the limited position section is engaged with a locking screw as described in any one of claims 1-5.

7. A robot according to claim 6, characterized in that: It also includes a locking screw screwing device, which includes a first rod body, which is used to cooperate with the locking screw. The first rod body is rotatable, and the end of the first rod body can be inserted into the first recess to screw the screw body into the object to be fixed through the tail wing.

8. A robot according to claim 6, characterized in that: The device also includes a tail removal device, which includes a second rod body, the second rod body is used to remove the tail wing, the shape of the end of the second rod body is adapted to the shape of one side of the tail wing, a fourth recess is provided at the end of the second rod body, one side of the tail wing can be inserted into the fourth recess, the depth of the fourth recess is less than the length of the tail wing, and the bottom end of the fourth recess is closed; An arc segment and a fan segment are arranged at the end of the second rod body, a fourth recess is formed between the arc segment and the fan segment, and the inner side surface of the arc segment and the outer side surface of the fan segment can be respectively engaged and connected with the tail wing.

9. A robot according to claim 6, characterized in that: It also includes a screw body removal device, which includes a third rod body. The third rod body is used to remove the screw body, and the end of the third rod body can be engaged with the fastening end of the screw body.

10. A method for operating a locking screw according to any one of claims 1 to 5, characterized in that: It includes the following: A tail wing is arranged at the fastening end of the screw body, the tail wing is provided with a first recess, and the tail wing is provided with a slot; Place the locking screw into the locking screw supply rack, and engage the tail wing slot with the locking screw supply rack to ensure the stability of the locking screw position; The screw body is screwed into the object to be fixed through the tail wing; After the screw body is fixed, remove the tail wing.

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