Bone nail, bone nail assembly and surgical robot

Abstract

The invention provides a bone nail, a bone nail assembly and a surgical robot. The bone nail comprises a body and a locking piece. A self-tapping thread is arranged at the front end of the body, a transmission structure is arranged at the rear end of the body, and the body is further provided with a first through hole penetrating through the body from the front end to the rear end. The locking piece is used for being installed at the rear end of the body to seal the first through hole. According to the bone nail, a plurality of bone nails can be conveniently and adjacently implanted, and the scene that the bone nails need to be densely implanted such as multi-electrode implantation and multi-fiber ablation is met; the bone nail implantation device can be matched with a screwing piece and a surgical robot to stably and accurately implant a bone nail in the planned direction, implantation direction deviation caused by hand shaking and uneven force application is avoided, the implantation direction of the bone nail does not need to be corrected many times, extra wounds are reduced, and the infection risk is reduced through a locking piece.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a bone nail, a bone nail assembly and a surgical robot. Background Art

[0002] The skull nail with a channel can provide a channel for medical devices such as puncture needles, biopsy needles, drainage tubes, electrodes, ablation optical fibers, sensors and other slender members to enter the skull, and play a guiding and protecting role for the medical devices. The implantation (position and direction) accuracy of the skull nail directly affects the accuracy of related surgeries, such as the accuracy of biopsy sampling positions, the accuracy of electroencephalogram measurement positions, and the accuracy of ablation sites.

[0003] The existing skull nails usually adopt rotary wing bone nails. After drilling a skull hole, the front end of the rotary wing bone nail is aligned with the skull hole (i.e., the bone nail channel), and then the doctor screws the front end of the bone nail into the skull hole by screwing the rotary wing. During the implantation process of the bone nail, only the "channel" of the skull hole restricts the position and direction of the bone nail. It is difficult to accurately control the implantation direction of the bone nail, and the operation of manually screwing the rotary wing may cause jitter and uneven force application, inevitably bringing a radial deviation to the implantation direction of the bone nail. Secondly, in some application scenarios, it is necessary to implant multiple skull nails adjacently, such as monitoring the electroencephalogram at multiple adjacent positions, ablating a larger lesion through multiple optical fibers, etc. At this time, the rotary wings of the multiple adjacent bone nails will interfere with each other, causing trouble to the implantation process.

[0004] In view of the above defects of the prior art, the present invention provides a bone nail, a bone nail assembly and a surgical robot. Summary of the Invention

[0005] The present invention provides a bone nail, a bone nail assembly and a surgical robot to solve the defects of low implantation accuracy of the bone nail and mutual interference of adjacent bone nails when implanting bone nails adjacently in the prior art.

[0006] The present invention provides a bone nail, comprising: a body and a locking member;

[0007] According to the bone nail provided by the present invention, a self-tapping thread is provided at the front end of the body, a transmission structure is provided at the rear end of the body, and the body is further provided with a first through hole penetrating from the front end to the rear end of the body;

[0008] The locking member is used to be installed at the rear end of the body to close the first through hole.

[0009] According to the bone nail provided by the present invention, the locking member includes a first embedding portion embedded in the rear end of the body in the installation state. The first embedding portion is provided with a slender member channel coaxial with the first through hole. In the installation state, the first embedding portion is squeezed and shrunk to clamp the slender member passing through the slender member channel.

[0010] A bone nail provided by the present invention, the bone nail further includes a sealing gasket, and the locking member is provided with an elongated member channel coaxial with the first through hole;

[0011] In the installed state, the elongated member passes through the elongated member channel and the central hole of the sealing gasket, and the sealing gasket radially expands under the extrusion of the locking member and the body, clamping the elongated member.

[0012] A bone nail provided by the present invention, the body is further provided with a receiving cavity coaxial with the first through hole, the sealing gasket is arranged in the receiving cavity, and after the locking member is installed at the rear end of the body, the part of the locking member embedded in the first through hole extrudes the sealing gasket;

[0013] Or, the locking member is a locking cap, the sealing gasket is arranged on the side of the locking cap, and the rear end of the body extrudes the sealing gasket.

[0014] A bone nail provided by the present invention, a card slot is arranged on the inner side of the locking cap, and the sealing gasket is arranged in the card slot. A bone nail provided by the present invention, an internal thread is arranged at the rear end of the body, the locking member is a plug, or the locking member is a nut provided with a threaded post;

[0015] Or, an external thread is arranged at the rear end of the body, and the locking member is a nut with an internal thread arranged on the brim;

[0016] Or, a clamping structure is arranged at the rear end of the body, and the locking member is installed at the rear end of the body through the clamping structure.

[0017] A bone nail provided by the present invention, the transmission structure is a columnar structure with a non-rotary outer contour, or a groove structure with a non-rotary inner contour.

[0018] The present invention also provides a bone nail assembly, including: a bone nail, a guide, and a screwing member;

[0019] The bone nail includes a body and a locking member, a self-tapping thread is arranged at the front end of the body, a transmission structure is arranged at the rear end of the body, the body is further provided with a first through hole penetrating from the front end to the rear end of the body, and the locking member is used to be installed at the rear end of the body to close the first through hole;

[0020] The guide includes a second through hole;

[0021] The screwing member includes a screwing portion, a guiding portion, and a transmission portion, and the shape of the transmission portion is adapted to the transmission structure of the bone screw; in the use state, the guiding portion passes through the second through hole, the transmission portion cooperates with the transmission structure of the bone screw, and by screwing the screwing portion, the bone screw can be implanted into the target position along the guiding direction of the introducer.

[0022] According to a bone screw assembly provided by the present invention, the introducer is used to be installed into a positioning channel provided by an auxiliary positioning device.

[0023] According to a bone screw assembly provided by the present invention, the auxiliary positioning device is a surgical robot or a stereotactic head frame.

[0024] According to a bone screw assembly provided by the present invention, the introducer includes a limiting portion and a second embedding portion;

[0025] The shape of the second embedding portion is adapted to the shape of the positioning channel;

[0026] The limiting portion is used to limit the depth of installation of the introducer into the positioning channel.

[0027] According to a bone screw assembly provided by the present invention, the introducer further includes a first extension portion, and the second through hole penetrates through the limiting portion, the second embedding portion, and the first extension portion.

[0028] According to a bone screw assembly provided by the present invention, a locking hole is further provided on the introducer, which is used to cooperate with a fixing member to fix the introducer after the introducer is installed into the positioning channel.

[0029] According to a bone screw assembly provided by the present invention, the front end of the screwing member further includes a second extension portion extending along the axial direction, and in the use state, the second extension portion is embedded into the first through hole.

[0030] According to a bone screw assembly provided by the present invention, the screwing member further includes a limiter, and the limiter is fixedly attached to the guiding portion of the screwing member in an adjustable position.

[0031] According to a bone screw assembly provided by the present invention, the bone screw assembly further includes a stepper, and the rear end of the introducer further includes a mounting portion, and the stepper is mounted to the rear end of the introducer through the mounting portion, and the stepper can adjust the position of its rear end face.

[0032] The present invention further provides a surgical robot, including: the bone screw implantation assembly according to any one of the foregoing items.

[0033] The bone screw, the bone screw assembly, and the surgical robot provided by the present invention at least have the following beneficial effects:

[0034] 1. The first through-hole of the bone nail body provides a passage for slender components such as puncture needles, biopsy needles, drainage tubes, monitoring electrodes, ablation optical fibers, and data lines of intracranial pressure sensors to enter the cranial cavity. The bone nail is not provided with rotors, so even if bone nails are implanted adjacently, they will not interfere with each other, expanding the scope of application of the bone nail (especially suitable for scenarios such as multi-electrode implantation and multi-fiber ablation);

[0035] 2. The transmission structure can cooperate with the screwing member, the guide, and the surgical robot to accurately implant the bone nail into the target position according to the planned direction, with extremely high implantation position accuracy and angle accuracy;

[0036] 3. The gasket and the locking member play a dual-blocking role in the contact between the intracranial environment and the external environment while ensuring the normal functions of medical devices, greatly reducing the infection risk; through the accommodating cavity or the card slot, the gasket is prevented from falling off, improving the convenience of use;

[0037] 4. The guide can be stably maintained in the bone nail implantation direction with the assistance of positioning auxiliary devices such as surgical robots. The screwing member passes through the second through-hole of the guide and drives the transmission structure of the bone nail to rotate through the transmission part, enabling the bone nail to be stably and accurately implanted into the cranial hole along the planned direction. It can avoid the implantation direction deviation caused by hand shaking and uneven force application. During the bone nail implantation process, it is not necessary to repeatedly correct the implantation direction of the bone nail, reducing the additional trauma to the patient;

[0038] 5. The first extension part of the guide can enhance the guiding effect on the screwing member, and the second extension part of the screwing member can be inserted into the first through-hole of the bone nail to enhance the guiding effect on the bone nail. Both improve the bone nail implantation accuracy.

[0039] 6. By setting a locking hole on the guide, the stability of the guide during the bone nail implantation process can be improved. Through the limiter set on the screwing member and the stepper set on the guide, the bone nail implantation depth can be accurately controlled, avoiding the instability of the bone nail due to too shallow implantation and also avoiding additional damage to the patient caused by too deep implantation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 is one of the sectional structure schematic diagrams of a bone nail provided by the present invention;

[0042] Figure 2 is Figure 1Schematic perspective view of the bone nail shown;

[0043] Figure 3 It is one of the schematic structural views of the locking member in a bone nail provided by the present invention;

[0044] Figure 4 It is the second of the schematic structural views of the locking member in a bone nail provided by the present invention;

[0045] Figure 5 It is the third of the schematic structural views of the locking member in a bone nail provided by the present invention;

[0046] Figure 6 It is one of the schematic views of the main body structure of a bone nail provided by the present invention;

[0047] Figure 7 It is the second of the schematic views of the main body structure of a bone nail provided by the present invention;

[0048] Figure 8 It is the third of the schematic partial views of a bone nail provided by the present invention;

[0049] Figure 9 It is the schematic structural view of a bone nail assembly provided by the present invention;

[0050] Figure 10 It is the schematic structural view of the screwing member in a bone nail assembly provided by the present invention;

[0051] Figure 11 It is the schematic structural view of the cooperation between the guide of a bone nail assembly and the end of a surgical robot;

[0052] Figure 12 It is the schematic structural view of the guide of a bone nail assembly provided by the present invention;

[0053] Figure 13 It is the schematic structural view of the end of the screwing member in a bone nail assembly provided by the present invention;

[0054] Figure 14 It is the schematic structural view of a surgical robot provided by the present invention. Detailed implementation manners

[0055] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0056] The following is combined with Figures 1 - 14Describe an osteoscrew, an osteoscrew assembly and a surgical robot of the present invention.

[0057] Figure 1 It is one of the schematic cross-sectional structures of an osteoscrew provided by the present invention. Figure 2 It is the corresponding three-dimensional view. As Figure 1 , Figure 2 shown, the osteoscrew includes a body 10 and a locking member 16. A self-tapping thread 11 is provided at the front end of the body 10, and a transmission structure 12 ( Figure 1 only the transmission structure of the internal hexagon is schematically shown) is arranged at the rear end of the body 10. The body 10 further includes a first through hole 13 that penetrates from the front end to the rear end of the body.

[0058] Specifically, the front end of the body 10 is the implantation end close to the skull. The front end of the body 10 has a self-tapping thread. When implanting the osteoscrew, the front end of the body 10 is aligned with the skull hole or the un-drilled skull target position. The rear end of the body 10 is the non-implantation end away from the skull. The transmission structure 12 at the rear end of the body 10 cooperates with the installation tool. By rotating the installation tool, the body 10 can be installed into the skull hole. The installation tool can be fixed in the osteoscrew implantation direction with the assistance of the positioning system, so that the osteoscrew can be accurately implanted into the required position, reducing the implantation (position, direction) deviation of the osteoscrew. The body 10 further includes a first through hole 13 that penetrates from the front end to the rear end, which is used for passing through slender members (i.e., slender medical devices), such as puncture needles, biopsy needles, drainage tubes, monitoring electrodes, ablation optical fibers, data lines of intracranial pressure sensors, etc.

[0059] In addition, the locking member 16 can be installed at the rear end of the body 10, for example, installed at the rear end of the body 10 by threading, or installed at the rear end of the body 10 by a snap-fit structure, which plays a role in sealing and blocking the channel of the first through hole 13 in the body 10, avoiding the contact between the intracranial environment and the extracorporeal environment, and greatly reducing the infection risk.

[0060] In the present invention, the first through hole of the osteoscrew body provides a channel for slender members such as puncture needles, biopsy needles, drainage tubes, monitoring electrodes, ablation optical fibers, and data lines of intracranial pressure sensors to enter the intracranial cavity; the osteoscrew has no rotor structure, and there is no interference between the osteoscrews, which is convenient for implanting multiple osteoscrews adjacent to each other, meeting the scenarios that require intensive implantation of osteoscrews such as multi-electrode implantation and multi-fiber ablation; the transmission structure can cooperate with the screwing member, the guide and the surgical robot to accurately implant the osteoscrew into the target position according to the planned direction, with extremely high implantation position accuracy and angle accuracy; the locking member plays a role in sealing and blocking the contact between the intracranial environment and the extracorporeal environment, reducing the infection risk.

[0061] Refer to Figure 3, Based on the above embodiments, in one embodiment, the locking member 16 includes a first embedding portion 161. The first embedding portion 161 is provided with an elongated member channel 162. In the use state, the elongated member channel 162 is coaxial with the first through hole 13. In the installed state, the first embedding portion 161 is embedded in the rear end of the body 10. The first embedding portion 161 is squeezed and contracted to clamp the elongated member passing through the elongated member channel 162, preventing the elongated member from displacing or rotating, avoiding causing damage to the patient or resulting in situations such as the deviation of electroencephalogram monitoring points or the change of intracranial pressure monitoring points, and also ensuring the sealing performance when the elongated member passes through, reducing the infection risk. It can be understood that in this embodiment, the locking member 16 is made of a plastic material, which is convenient to deform under extrusion, such as silicone, nitrile rubber, styrene-butadiene rubber, butyl rubber, polyisoprene rubber and other materials.

[0062] Further, still referring to Figure 3 , the contact surface between the first embedding portion 161 and the rear end of the body 10 is a conical surface. After the locking member 16 is installed on the body 10, the body 10 squeezes the first embedding portion 161 through the conical surface so that the elongated member channel 162 clamps the elongated member passing through it, forming a seal. Preferably, the taper of the conical surface is less than 8% to form a self-locking conical surface and prevent the locking member 16 from loosening and falling off.

[0063] Further, the first embedding portion 161 is a threaded plug, and the rear end of the body 10 is provided with a matching internal thread, which is convenient for installing the locking member 16 to the rear end of the body 10 and improving the installation stability and sealing performance. Of course, the first embedding portion 161 can also be installed on the rear end of the body 10 by other means. For example, the locking member 16 further includes a brim, and the brim is provided with an internal thread, and the locking member 16 is installed on the rear end of the body 10 by cooperating with the external thread at the rear end of the body 10. Another example is that the locking member 16 further includes a brim, and the brim is provided with a snap structure (such as an annular groove snap, a barb snap, etc.) that cooperates with the outer wall of the rear end of the body 10, and the locking member 16 is installed on the rear end of the body 10 through snap fit.

[0064] Based on any of the above embodiments, in some embodiments, the bone screw further includes a sealing gasket 15. The sealing gasket 15 is provided with a central hole, and the locking member 16 is provided with an elongated member channel 162. In the use state, the elongated member channel 162 is coaxial with the first through hole 13. In the installed state, the elongated member passes through the elongated member channel 162 and the central hole of the sealing gasket 15, and the sealing gasket 15 expands radially under the extrusion of the locking member 16 and the body 10 to clamp the elongated member.

[0065] Specifically, referring to Figure 1, in a specific embodiment, the body 10 is provided with a receiving cavity 17 coaxially arranged with the first through hole 13 for placing the sealing gasket 15. A central hole having the same or slightly larger diameter as the slender member is provided in the center of the sealing gasket 15; the locking member 16 further includes a first embedding portion 161, and the first embedding portion 161 is provided with a slender member channel 162 for the slender member to pass through. In the installed state, the slender member passes through the slender member channel 162, the first through hole 13, and the central hole of the sealing gasket 15. The locking member 16 can squeeze the sealing gasket 15 in the receiving cavity 17 to cause it to expand radially and reduce the inner diameter, thereby squeezing the slender member (such as a puncture needle, a biopsy needle, a drainage tube, a monitoring electrode, an ablation optical fiber, a data line of an intracranial pressure sensor, etc.) passing through the central hole of the sealing gasket 15, locking the position of the slender structure, preventing the slender member from rotating or axially moving, playing a sealing and blocking role for the channel in the body 10, and moreover, the locking member 16 itself can also play a role in closing and blocking the rear end of the body 10, avoiding contact between the intracranial environment and the external environment, and greatly reducing the infection risk.

[0066] Referring to Figure 4 , in another embodiment, the locking member 16 is a locking cap (i.e., a cap-shaped structure), the sealing gasket 15 is arranged inside the locking cap, and the locking cap is also provided with a slender member channel 162. In the installed state, the slender member passes through the slender member channel 162, the central hole of the sealing gasket 15, and the first through hole 13. The rear end of the body 10 and the locking member 16 squeeze the sealing gasket 15 to cause it to expand radially and clamp the slender member, playing a role of fixing, sealing, and blocking. Further, referring to Figure 5 , a sealing gasket clamping groove 163 is arranged at the inner bottom of the locking cap to prevent the sealing gasket from falling off. Specifically, the clamping groove 163 can be arranged at the bottom of the cap brim or at the bottom of the cap body.

[0067] In this embodiment, the locking member cooperates with the sealing gasket to seal the bone screw channel. The locking member itself can play a sealing role. The locking member can also squeeze the sealing gasket to cause it to expand radially and clamp the slender structural member, playing a sealing and blocking role for the first through hole channel in the body, avoiding contact between the intracranial environment and the external environment, and greatly reducing the infection risk.

[0068] Based on any of the above embodiments, in one embodiment, the transmission structure 12 is a columnar structure with a non-rotary outer contour. For example, at least three axial clamping grooves are arranged on the outer wall of the rear end of the body 10 (in this case, the contour of the rear end of the body 10 still belongs to a columnar structure with a non-rotary body), and a screw-like member in the form of a claw can be used to turn the bone screw. For another example, a regular quadrilateral columnar structure or a regular pentagon columnar structure is arranged along the axial direction of the bone screw at the rear end of the body 10. For another example Figure 6a regular hexagonal columnar structure (i.e., external hexagon) and so on. Further, the transmission structure can also be a multi-segment columnar structure (tower structure), for example, an "external hexagon with a smaller cross-section" and an "external hexagon with a larger cross-section" sequentially arranged at the rear end of the bone screw.

[0069] In this embodiment, the non-rotary columnar structure extending along the axial direction of the bone screw facilitates the screwing of the bone screw, and the columnar structure extending along the axial direction of the bone screw can guide the implantation direction of the bone screw.

[0070] Based on any of the above embodiments, in one embodiment, the transmission structure 12 is a groove structure with a non-rotary inner contour, such as Figure 7 a quadrilateral groove in Figure 1 , Figure 2 a hexagonal groove (i.e., internal hexagon) in

[0071] In this embodiment, the groove structure arranged along the axial direction of the bone screw facilitates the screwing of the bone screw, and the groove structure arranged along the axial direction of the bone screw can guide the implantation direction of the bone screw.

[0072] Based on any of the above embodiments, in one embodiment, an internal thread 14 is provided at the rear end of the body, the locking member 16 is a plug, or the locking member is a nut provided with a threaded post.

[0073] Referring to Figure 6 , in one embodiment, a self-tapping thread 11 is provided at the front end of the body 10 ( Figure 6 the shape of the self-tapping thread is not shown in Figure 6 ), the rear end of the body 10 is provided with a transmission structure 12 in the form of a column with a non-rotary outer contour, a first through hole 13 penetrating from the front end to the rear end is provided in the center of the bone screw, and an internal thread 14 is provided at the end section of the first through hole 13 at the rear end of the body 10 (

[0074] the thread shape is not shown in Figure 7 ). The body 10 further includes a locking member 16 in the form of a plug, the plug can be installed at the rear end of the body 10 through the internal thread 14, or the locking member 16 is a nut with a threaded post provided in the inner center, and the threaded post in the inner center of the nut is installed at the rear end of the body 10 through the internal thread 14. Figure 7 ), the rear end of the body 10 is provided with a groove structure 12 with a non-rotary inner contour, and a first through hole 13 penetrating from the front end to the rear end is provided in the center of the bone screw ( Figure 7(not visible from this perspective), there is an internal thread 14 provided at the rear end of the body 10, and the minor diameter of the internal thread 14 is greater than or equal to the diameter of the first through hole 13 of the body 10. The body 10 further includes a locking member 16 in the form of a plug, which can be installed at the rear end of the body 10 through the internal thread 14, or the locking member 16 is a nut with a threaded post provided at the inner center, and the central threaded post of the nut is installed at the rear end of the body 10 through the internal thread 14.

[0075] Based on any of the embodiments, in one embodiment, the transmission structure 12 provided at the rear end of the body 10 is a groove structure (such as a quadrilateral groove, a hexagonal groove, a star-shaped groove, a flower-shaped groove, etc.), and the bone screw further includes a gasket adapted to the shape of the groove structure, and the gasket is provided with a central hole. After the bone screw is implanted, the gasket can be placed in the groove structure, the locking member is installed at the rear end of the body 10, and the slender member passes through the central hole of the locking member, the central hole of the gasket, and the first through hole of the body.

[0076] In this embodiment, by designing the shape of the gasket to be adapted to the shape of the transmission groove, the transmission groove can be used to cooperate with the screwing member to implant the bone screw and can also accommodate the gasket for sealing. This embodiment does not require an additional space in the bone screw to accommodate the gasket, optimizing the structure of the bone screw. Moreover, the gasket will not rotate in the transmission groove, and the slender member can be effectively fixed.

[0077] Based on any of the above embodiments, in one embodiment, the thread is an external thread, and the seal is a nut with an internal thread provided at the brim.

[0078] Specifically, referring to Figure 1 、 2 , in one embodiment, the front end of the body 10 is provided with a self-tapping thread 11, the rear end of the body 10 is provided with a groove structure 12 along the axis of the body 10, a first through hole 13 ( Figure 2 not visible from this perspective) running through the front end to the rear end is provided at the center of the bone screw, an external thread 14 is provided at the rear end of the body 10, and the body 10 further includes a nut, which can be installed at the rear end of the body 10 through the external thread 14.

[0079] Referring to Figure 8 , in another embodiment, the front end of the body 10 is provided with a self-tapping thread 11, the rear end of the body 10 is provided with a columnar transmission structure 12, a first through hole 13 running through the front end to the rear end is provided at the center of the bone screw, an external thread 14 is provided at the rear end of the body 10, and the body 10 further includes a nut, which can be installed at the rear end of the body 10 through the external thread 14.

[0080] Based on any of the above embodiments, in one embodiment, a clamping structure is provided at the rear end of the body 10, and the locking member 16 is installed at the rear end of the body 10 through the clamping structure.

[0081] Specifically, for example, a clamping groove (such as an annular clamping groove, circumferentially spaced concave points, circumferentially spaced barbed clamping grooves, etc.) is provided on the outer wall at the rear end of the main body 10. The locking member 16 is a cap-shaped structure, and a buckle (such as an annular buckle, circumferentially spaced convex points, circumferentially spaced barbs) matching the clamping groove is provided on its brim; for another example, a buckle is provided on the outer wall at the rear end of the main body 10, and the locking member 16 is a cap-shaped structure, and a matching clamping groove is provided on its brim. Of course, the clamping structure can also be provided on the inner wall at the rear end of the main body 10, and the form of the clamping structure can refer to the description above, which will not be elaborated here.

[0082] A bone nail assembly provided by the present invention will be described below. The bone nail assembly provided below can be understood with reference to the bone nail described above.

[0083] Figure 9 is a schematic structural diagram of a bone nail assembly provided by the present invention. As Figure 9 shown, the bone nail assembly 100 includes: a bone nail, a guide 20, and a screwing member 30.

[0084] The bone nail includes a main body 10 and a locking member 16. A self-tapping thread 11 is provided at the front end of the main body 10. When the bone nail is screwed along the direction of the self-tapping thread, the front end of the main body 10 can penetrate into the skull hole or into the un-drilled skull. When the bone nail is screwed in the reverse direction of the tapping thread, the front end of the main body 10 can withdraw from the skull hole. A transmission structure is provided at the rear end of the main body 10. The transmission structure is, for example, a columnar structure with a non-rotary outer contour, or a groove-shaped structure with a non-rotary inner contour, which is convenient for driving the main body 10 to rotate under the screwing of the screwing member 30. The main body 10 further includes a first through hole 13 penetrating from the front end to the rear end for passing medical devices, such as a puncture needle, a biopsy needle, a drainage tube, an electrode, an ablation optical fiber, an intracranial pressure sensor data line, and so on. The specific structure or further optimized structure of the main body 10 can refer to the embodiments above. It can be understood that the main body 10 is used alone during the implantation of the bone nail, and after completion, the locking member 16 is installed on the main body 10.

[0085] The guide 20 can be fixed at the required position in the implantation direction of the main body 10 with the assistance of a positioning system. The positioning system can establish a mapping relationship between the real space and the medical image space, and determine the position where the guide 20 needs to be fixed according to the planned bone nail implantation path. The positioning system is, for example, a stereotactic surgical head frame, and the guide 20 can be fixed at the required position through the installation structure on the head frame. The positioning system is also, for example, a surgical navigation positioning robot, and the guide 20 can be fixed at the required position through the flange (positioner) at the end of the robotic arm. Refer to Figure 12 、 Figure 13, the introducer 20 includes a second through-hole 21, and the inner diameter of the second through-hole 21 is in clearance fit with the outer diameter of the screwing member guiding portion 32 so as to pass through the guiding portion 32 of the screwing member 30, and the introducer 20 can guide the screwing member 30 through the second through-hole 21.

[0086] Referring to Figure 9 、 Figure 10 , the screwing member 30 includes a screwing portion 31, a guiding portion 32, and a transmission portion 33. The screwing portion 31 is located at the rear end of the screwing member 30. The screwing portion 31 and the guiding portion 32 can be integrally formed or two detachable components. The shape of the screwing portion 31 can be flexibly set. For example, it can be set as a columnar structure coaxial with the guiding portion 32, or for another example, it can be set as a rod-shaped structure perpendicular to the guiding portion 32; the transmission portion 33 is located at the front end of the screwing member 31 (i.e., the front end of the guiding portion 32), and its shape is adapted to the transmission structure 12 of the main body 10. For example, when the transmission structure 12 is a columnar structure with a non-rotary outer contour, the transmission portion 33 is a cap-shaped structure with corresponding grooves, and when the transmission structure 12 is a groove-shaped structure with a non-rotary inner contour, the transmission portion 33 is a columnar structure whose shape is adapted to the groove-shaped structure.

[0087] In the use state of the bone screw assembly 100, the guiding portion 32 of the screwing member 30 can pass through the second through-hole 21, and the transmission portion 33 cooperates with the transmission structure 12 of the main body 10. By screwing the screwing portion 31, the main body 10 can be implanted into the target position along the guiding direction of the introducer 20.

[0088] In this embodiment, the introducer can be stably maintained in the bone screw implantation direction with the assistance of the positioning system. The screwing member passes through the second through-hole of the introducer, and drives the transmission structure of the bone screw to rotate through the transmission portion, so that the bone screw can be stably and accurately implanted into the cranial hole along the planned direction; in this embodiment, the bone screw is not provided with a rotor, and even if the bone screws are implanted adjacent to each other (densely), they will not interfere with each other, and the applicable range of the bone screw is wider; through the introducer and the screwing member, it is possible to avoid the implantation direction deviation caused by the shaking of the human hand and uneven force application. During the bone screw implantation process, it is not necessary to repeatedly correct the implantation direction of the bone screw, reducing additional trauma.

[0089] Based on any of the above embodiments, in one embodiment, the introducer 20 is used to be installed in the positioning channel provided by the auxiliary positioning device.

[0090] Specifically, after the patient registration is completed, the surgical planning content can be mapped to the patient space, the implantation direction and position of the bone screw in the patient space are calculated, and a positioning channel is provided by the auxiliary positioning device, so that after the introducer 20 is installed in the positioning channel, its second through-hole 21 conforms to the bone screw implantation direction.

[0091] Based on the above embodiments, in one embodiment, the auxiliary positioning device is a surgical robot or a stereotactic head frame.

[0092] Specifically, the auxiliary positioning device can be a surgical robot with a robotic arm, which can move to the required pose through the robotic arm to provide a positioning channel. Figure 11 Fig. shows the end structure of a surgical robot. The locator 200 can be installed at the end of the robotic arm. The locator 200 includes a positioning channel 210, and the guide 20 can be installed in the positioning channel 210 to guide the implantation direction of the bone nail. Exemplarily, the structure of the surgical robot with a robotic arm can also refer to the applicant's prior applications CN109549706A and CN114711969A, the contents of which are incorporated herein by reference.

[0093] The auxiliary positioning device can also be a (small) surgical robot without a robotic arm. For example, the position of the moving component can be adjusted and fixed through a fixing component, and the direction of the positioning channel can be adjusted through the moving component. Exemplarily, the structure of the surgical robot without a robotic arm can also refer to the applicant's patents CN216021360U and CN111012499B, the contents of which are incorporated herein by reference.

[0094] The auxiliary positioning device can also be a stereotactic surgical headframe. Specifically, the stereotactic surgical headframe is used to be fixed to the patient's head, and the position of the locator in the headframe can be adjusted and fixed. By adjusting and fixing the locator to the required position, a positioning channel can be provided for the guide 20.

[0095] In this embodiment, the auxiliary positioning device in the form of a surgical robot or a stereotactic surgical headframe provides a positioning channel for the guide, improving the accuracy of bone nail implantation. Moreover, this positioning channel can be reused by replacing other guides during processes such as drilling a skull hole and puncturing, without disassembling the end of the robotic arm or the stereotactic surgical headframe and recalculating and adjusting the positioning. Only by replacing the guide can different operations be performed, improving the surgical efficiency.

[0096] Still referring to Figure 12 , in one embodiment, the guide 20 includes a limiting portion 22 and a second embedding portion 23.

[0097] The shape of the second embedding portion 23 is adapted to the shape of the positioning channel, facilitating the installation and embedding of the guide 20 into the positioning channel to play a positioning role. The limiting portion 22 is located on one side of the rear end of the second embedding portion 23 (i.e., the side away from the body 10), and is used to limit the depth of the installation of the guide 20 into the positioning channel. The limiting portion 22 is, for example, an annular boss, the outer diameter of which is greater than the inner diameter of the positioning channel. The limiting portion 22 is also, for example, a limiting protrusion (such as an annular rib, multiple protruding dots, etc.) distributed circumferentially along the top of the second embedding portion 23.

[0098] In this embodiment, the limiting portion 22 can limit the depth of the second embedding portion installed and embedded in the positioning channel, preventing the guide 20 from sliding / shaking in the positioning channel when the screw member 30 screws the bone screw.

[0099] Still referring to Figure 12 , in one embodiment, the guide 20 further includes a first extension portion 24, and the second through hole 21 penetrates through the limiting portion 22, the second embedding portion 23, and the first extension portion 24.

[0100] Specifically, the first extension portion 24 can be located at the front end of the second embedding portion 23 (i.e., the side close to the body 10), or can be located at the rear end of the limiting portion 22 (i.e., the side far from the body 10), and the first extension portion 24 extends along the axial direction of the second through hole 21. The second through hole 21 penetrates through the limiting portion 22, the second embedding portion 23, and the first extension portion 24, providing guidance for the screw member 30. The second extension portion 24 can increase the effective guiding length of the guiding portion 32 of the screw member, improving the guiding accuracy.

[0101] Based on any of the above embodiments, in one embodiment, the first extension portion 24 is located at the front end of the second embedding portion 23, and the diameter of the first extension portion 24 is smaller than the inner diameter of the positioning channel.

[0102] Specifically, the first extension portion 24 is located at the front end of the second embedding portion 23 (that is, the side close to the body 10), avoiding interference with the rotation operation of the screw member 30. The diameter of the first extension portion 24 is smaller than the inner diameter of the positioning channel, facilitating passing through the positioning channel.

[0103] Based on any of the above embodiments, in one embodiment, the guide 20 is further provided with a locking hole 26 for fixing the guide in cooperation with a fixing member after being installed in the positioning channel.

[0104] Specifically, still referring to Figure 11 , Figure 12 , the guide 20 is further provided with a locking hole 26, and the setting position of the locking hole 26 can be flexibly selected. For example, it can be set on the second embedding portion 23, and a corresponding threaded hole is provided on the side wall of the positioning channel. After the guide 20 is installed in the positioning channel, a screw is screwed into this threaded hole, and the front end of the screw enters this locking hole, thereby fixing the guide 20. Another example is that the locking hole is a through hole on the second embedding portion 23, and corresponding (two) through holes are provided on the positioning channel. When fixing the guide 20, a pin can be passed through the through hole of the positioning channel and this locking hole on the second embedding portion 23 for fixing; another example is that the locking hole 26 is set on the limiting portion 22, and a corresponding threaded hole is provided on the contact end surface of the locator 200 and the limiting portion 22. After the guide 20 is installed in the positioning channel, a screw is passed through the locking hole and screwed into this threaded hole, thereby fixing the guide 20.

[0105] In this embodiment, by providing a locking hole, the guide can be prevented from sliding / dropping off in the positioning channel, and the movement of the guide 20 during the process of screwing the screwing member can also be prevented, thereby avoiding the guiding direction error.

[0106] Based on any of the above embodiments, in one embodiment, the front end of the screwing member 30 further includes a second extension portion 34 extending axially. In the use state, the second extension portion 34 is inserted into the first through hole 13 of the main body 10.

[0107] Referring to Figure 13 , the front end (the end close to the skull) of the screwing member 30 includes a second extension portion 34. Specifically, the second extension portion 34 is located at the front end of the transmission portion 33 and extends along the axial direction of the screwing member (i.e., the axial direction of the guiding portion). It can be understood that when the transmission structure 12 is a columnar structure, the transmission portion 33 is a corresponding groove structure, and the second extension portion can be an extension portion extending from the groove structure. When the transmission structure 12 is a groove structure, the transmission portion 33 is a corresponding columnar structure, and the second extension portion can be an extension portion extending from the end face of the columnar structure. When the transmission portion 33 is in a matching state with the transmission structure 12 of the main body 10, the second extension portion 34 is inserted into the through hole 13 of the main body 10, which can standardize the implantation direction of the main body 10, strengthen the guiding effect of the screwing member 30 on the main body 10, and improve the bone nail implantation accuracy.

[0108] It can be understood that the shape of the second extension portion 34 is adapted to the shape of the first through hole 13. For example, the through hole of the main body 10 is a cylindrical through hole, and the second extension portion 34 is a corresponding cylindrical structure. Another example is that the first through hole 13 of the main body 10 is a hexagonal columnar through hole, and the second extension portion 34 is a corresponding hexagonal columnar structure.

[0109] In this embodiment, the guiding effect of the screwing member on the bone nail is further improved by the second extension portion, avoiding the deviation of the bone nail implantation direction caused by factors such as hand tremor and uneven force application.

[0110] Based on any of the above embodiments, in one embodiment, the screwing member 30 further includes a limiter, and the limiter can be fixedly attached to the guiding portion 32 of the screwing member 30 at an adjustable position.

[0111] Specifically, the limiter can be fixed to the guiding portion 32 of the screwing member 30, and its position is adjustable. After setting the position, when the doctor screws the screwing member, after screwing in a certain depth, the limiter will be blocked by the guide 20, preventing further screwing of the bone nail and causing damage to the patient. For example, the limiter structure includes a sleeve structure and a screw. A threaded hole is provided on the side wall of the sleeve structure, and the screw can be installed in the threaded hole. When it is necessary to fix the limiter, the screw can be screwed into the threaded hole, and the front end of the screw can press against the guiding portion 32 of the screwing member 30 to achieve fixation.

[0112] In a feasible operation mode, the positioning system is used to assist in setting the set position of the limiter on the guiding part 32. The positioning system automatically calculates the required position of the limiter on the screwing part according to the sizes, positions of various devices and the expected screwing depth of the bone screw. The doctor directly adjusts and fixes the limiter on the guiding part 32 according to the calculated position. In another feasible operation mode, the doctor passes the front end of the screwing part through the guide 20, the transmission part at the front end abuts against the rear end of the bone screw, the doctor moves the limiter to closely adhere to the guide 20, and then withdraws the limiter by a corresponding distance on the guiding part 32 according to the "expected bone screw implantation depth" and fixes it.

[0113] In this embodiment, the implantation depth of the bone screw is accurately controlled by the limiter, avoiding the situation that the bone screw is easily loosened due to too shallow implantation, and also avoiding the situation that the brain tissue is damaged due to too deep implantation of the bone screw.

[0114] Based on the previous embodiment, in one embodiment, the bone screw assembly 100 further includes a spiral feed assembly. The rear end of the guide further includes a mounting part 25. The spiral feed assembly is mounted to the rear end of the guide through the mounting part 25. The spiral feed structure can adjust the relative distance between its rear end limiting surface and the target area.

[0115] Specifically, the guide 20 further includes a mounting part 25. The mounting part 25 is located on one side of the rear end of the limiting part 22. The mounting part can be an annular boss provided with external threads or internal threads. It can be understood that setting it as "annular" is convenient for installing the spiral feed assembly or for the guiding part 32 of the screwing part to pass through.

[0116] The spiral feed assembly is mounted to the rear end of the guide through the mounting part 25. The spiral feed assembly can adjust the relative distance between its rear end limiting surface and the target area. For example, the stepper includes two sleeve structures. The first sleeve is sleeved on the second sleeve, and the two are in threaded cooperation, and the relative distance between its rear end limiting surface and the target area can be adjusted. The implantation depth of the bone screw is controlled in cooperation with the limiting part on the screwing part. It can be understood that the spiral feed assembly is also a hollow structure, which is convenient for being mounted to the rear of the guide for the guiding part 32 of the screwing part 30 to pass through.

[0117] In this embodiment, by providing the spiral feed assembly, it is convenient to "fine-tune" the implantation depth of the bone screw in cooperation with the limiter, avoiding the situation that the limiter needs to be disassembled and adjusted every time when the implantation depth is insufficient, and improving the operation efficiency.

[0118] Next, a surgical robot provided by the present invention will be described. The surgical robot described below can be mutually referred to with the bone screw assembly described above.

[0119] Figure 14 is a schematic structural diagram of a surgical robot provided by the present invention, as Figure 14As shown in the figure, a surgical robot provided by the present invention includes: any one of the foregoing bone nail implant components 100, a locator 200, a robotic arm 300, and a processing module 400;

[0120] The locator 200 is installed at the end of the robotic arm 300;

[0121] The robotic arm 300 is used to align the positioning channel of the locator 200 with the planned bone nail implantation direction according to the control instructions of the processing module 400;

[0122] The bone nail implant component 100 is used to assist in implanting the bone nail under the positioning of the locator 200.

[0123] Specifically, the robotic arm 300 can be a robotic arm with four degrees of freedom, five degrees of freedom, six degrees of freedom, seven degrees of freedom, etc. There is a positioning channel 210 on the locator 200, and the locator 200 can be installed at the end of the robotic arm. The processing module 400 is communicatively connected to the robotic arm 300. The processing module 400 can control the robotic arm 300 to move to the positioning position. At this positioning position, the positioning channel of the locator 200 can be aligned with the planned bone nail implantation direction. The bone nail implant component 100 includes a body 10, a guide 20, and a screwing member 30. During the process of implanting the bone nail, the guide 20 is installed into the positioning channel. The guiding portion 32 of the screwing member 30 passes through the second through hole 21 of the guide 20, and the transmission portion 33 engages with the transmission structure 12 of the body 10. Under the guidance of the guide 20, the doctor implants the body 10 into the target position by screwing the screwing member 30.

[0124] The process of patient registration and calculating the robotic arm posture required for implanting the bone nail can refer to the prior art, and the present invention will not expand on this. In addition, the present invention does not limit the composition method of the robotic arm and the processing module. For example, the processing module is arranged in the operating cart, the robotic arm is installed on the operating cart, or the processing module is integrated in the robotic arm base. For another example, the processing module is integrated in the control room, and the processing module communicates with the robotic arm in a wired or wireless manner.

[0125] A surgical robot according to this embodiment can cooperate with the surgical robot to implant the bone nail through the designed bone nail component, improving the implantation accuracy of the bone nail and helping to improve the accuracy and success rate of surgeries such as electrode implantation, biopsy, drainage, and laser ablation.

[0126] The present invention also provides a surgical robot including: a guiding module, a position adjustment module, a processing module, and any one of the foregoing bone nail implant components;

[0127] The guiding module includes a positioning channel;

[0128] The position adjustment module is used to align the positioning channel of the guiding module with the planned bone nail implantation direction according to the control instructions of the processing module;

[0129] The bone screw implanting assembly is used to assist in implanting bone screws under the positioning of the guiding module.

[0130] Specifically, the position adjustment module is fixed at the desired position. For example, the position adjustment module is fixed within a certain distance from the patient through a multi-segment articulated arm, or the position adjustment module is directly fixed on the hospital bed. The position adjustment module is connected to the guiding module to adjust the position and direction of the positioning channel of the guiding module. After the patient registration is completed, the processing module controls the movement of the position adjustment module to align the positioning channel with the bone screw implanting direction and ensure that the positioning channel and the implanting position of the bone screw are within an appropriate distance range, facilitating the doctor to operate and screw in the bone screw. The bone screw implanting assembly includes a body, a guide, and a screwing member. During the process of implanting the bone screw, the guide is installed into the positioning channel, the guiding portion of the screwing member passes through the second through hole of the guide, and the transmission portion engages with the transmission structure of the body. Under the guidance of the guide, the doctor screws in the bone screw into the target position by screwing the screwing member.

[0131] A surgical robot provided in this embodiment, through the cooperative use with the bone screw assembly, improves the implanting accuracy of the bone screw and helps to improve the accuracy and success rate of surgeries such as electrode implantation, biopsy, drainage, and laser ablation.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bone nail, characterized in that, it includes: a body and a locking member; a self-tapping thread is provided at the front end of the body, a transmission structure is provided at the rear end of the body, and a first through hole penetrating from the front end to the rear end of the body is also provided on the body; the locking member is used to be installed at the rear end of the body to close the first through hole after the slender member to be implanted reaches the expected position.

2. The bone nail according to claim 1, characterized in that, the locking member includes a first embedding portion embedded in the rear end of the body in the installation state, the first embedding portion is provided with a slender member channel coaxial with the first through hole, and in the installation state, the first embedding portion is squeezed and contracted to clamp the slender member passing through the slender member channel.

3. The bone nail according to claim 1, characterized in that, it further includes a sealing gasket, and the locking member is provided with a slender member channel coaxial with the first through hole; in the installation state, the slender member passes through the slender member channel and the central hole of the sealing gasket, and the sealing gasket expands radially under the extrusion of the locking member and the body to clamp the slender member to achieve sealing.

4. The bone nail according to claim 3, characterized in that, the body is further provided with a receiving cavity coaxial with the first through hole, the sealing gasket is arranged in the receiving cavity, and after the locking member is installed at the rear end of the body, the part of it embedded in the first through hole squeezes the sealing gasket; or, the locking member is a locking cap, the sealing gasket is arranged inside the locking cap, and the rear end of the body squeezes the sealing gasket.

5. The bone nail according to claim 4, characterized in that, the locking cap is provided with a card slot, and the sealing gasket is arranged in the card slot.

6. The bone nail according to claim 1, characterized in that, the rear end of the body is provided with an internal thread, the locking member is a plug or the locking member is a nut provided with a threaded post; or, the rear end of the body is provided with an external thread, and the locking member is a nut with an internal thread on the brim; or, the rear end of the body is provided with a clamping structure, and the locking member is installed at the rear end of the body through the clamping structure.

7. The bone nail according to claim 1, characterized in that, the transmission structure is a columnar structure with a non-rotary outer contour or a groove-type structure with a non-rotary inner contour.

8. A bone nail assembly, characterized in that, it includes: a bone nail, a guide, and a screwing member; the bone nail includes a body and a locking member, a self-tapping thread is provided at the front end of the body, a transmission structure is provided at the rear end of the body, and a first through hole penetrating from the front end to the rear end of the body is also provided on the body, and the locking member is used to be installed at the rear end of the body to close the first through hole; the guide includes a second through hole; the screwing member includes a screwing portion, a guiding portion, and a transmission portion, and the shape of the transmission portion is adapted to the transmission structure of the bone nail; in the use state, the guiding portion passes through the second through hole, the transmission portion cooperates with the transmission structure of the bone nail, and by screwing the screwing portion, the bone nail can be implanted into the target position along the guiding direction of the guide.

9. The bone nail assembly according to claim 8, wherein, the guide is used to be installed into a positioning channel provided by an auxiliary positioning device.

10. The bone nail assembly according to claim 9, wherein, the auxiliary positioning device is a surgical robot or a stereotactic head frame.

11. The bone nail assembly according to claim 8, wherein, the guide includes a limiting portion and a second embedding portion; the shape of the second embedding portion is adapted to the shape of the positioning channel; the limiting portion is used to limit the depth of installation of the guide into the positioning channel.

12. The bone nail assembly according to claim 11, wherein, the guide further includes a first extension portion, and the second through hole penetrates through the limiting portion, the second embedding portion and the first extension portion.

13. The bone nail assembly according to claim 8, wherein, a locking hole is further provided on the guide for cooperating with a fixing member to fix the guide after the guide is installed into the positioning channel.

14. The bone nail assembly according to claim 8, wherein, a second extension portion extending axially is further included at the front end of the screwing member, and in the use state, the second extension portion is embedded into the first through hole.

15. The bone nail assembly according to claim 8, wherein, the screwing member further includes a limiter, and the limiter is fixedly attached to the guiding portion of the screwing member in an adjustable position manner.

16. The bone nail assembly according to claim 15, wherein, the bone nail assembly further includes a spiral feed assembly, a mounting portion is further included at the rear end of the guide, the spiral feed assembly is installed at the rear end of the guide through the mounting portion, and the spiral feed assembly can adjust the relative distance between its rear end limiting surface and the target area.

17. A surgical robot, wherein, it includes: a bone nail implanting assembly according to any one of claims 8-16.

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