Automatic screw placement system and orthopedic surgery robot

Abstract

The invention provides an automatic screw placement system and an orthopedic surgery robot, and the system comprises a kirschner wire which comprises a wire body and a wire head, the wire body is fixedly connected with the wire head, the wire head comprises a needle tip, and the needle tip is located at the tail end of the wire head; the pedicle screw comprises a screw body and a milling assembly. The power platform comprises a needle placing module and a screw placing module, the needle placing module is used for placing a kirschner wire into the spine of a patient, the screw placing module is used for placing a pedicle screw into the vertebral pedicle of the spine of the patient, and through collaborative design of the needle placing module and the screw placing module, the kirschner wire positioning process and the screw implanting process are integrated to the same mechanical arm operation platform; and in cooperation with instruction control of a robot system, the operation duration is remarkably shortened, the operation risk is further reduced, and automatic operation of the whole process from placement of the kirschner wire to placement of the pedicle screw is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic automatic nail placement, and particularly relates to an automatic nail placement system and an orthopedic surgical robot. Background Art

[0002] Robotic-assisted minimally invasive spinal surgery has been gradually applied clinically in recent years. Its high-precision positioning of the robotic arm can assist doctors in initially implanting Kirschner wires. However, the existing technology still has the following limitations: Firstly, the existing system can only achieve the initial fixation of Kirschner wires, and the implantation of pedicle screws still relies on doctors to manually operate along the Kirschner wire trajectory or use traditional tools to push. This process requires repeated adjustment of the screw position and angle, which is time-consuming and prone to a decrease in screw implantation accuracy due to human error, especially in complex anatomical structures where the risk is exacerbated.

[0003] Secondly, due to insufficient driving power and rotation speed of the existing screw implantation tools, it is difficult to efficiently grind the dense cortical bone at the entrance of the pedicle, which is prone to problems such as Kirschner wire sliding and screw deviation. For patients with abnormal bone density (such as osteosclerosis or osteoporosis), traditional tools are prone to insufficient bone channel preparation and even damage to surrounding tissues due to the lack of adaptive control.

[0004] In addition, the Kirschner wire and screw implantation modules in the existing equipment are mostly independent structures, and there are multiple instrument switching problems in the operation process, which not only prolongs the operation time but also increases the risk of intraoperative contamination. How to achieve the full-process automation of precise Kirschner wire implantation and automatic screw placement, and improve the efficiency and stability of bone channel preparation, has become a technical difficulty to be solved urgently.

[0005] Therefore, the existing technology still needs to be further developed. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above technical deficiencies and provide an automatic nail placement system and an orthopedic surgical robot to solve the problems existing in the existing technology.

[0007] To achieve the above technical purpose, according to the first aspect of the present invention, the present invention provides an automatic nail placement system, including: A Kirschner wire, including a needle body and a needle head, the needle body is fixedly connected to the needle head, the needle head includes a needle tip, and the needle tip is located at the end of the needle head; A pedicle screw, including a screw body and a milling component; A power platform, including a needle placement module and a nail placement module, the needle placement module is used to place the Kirschner wire into the patient's spine, and the nail placement module is used to place the pedicle screw into the pedicle of the patient's spine.

[0008] Specifically, the needle placement module is detachably connected to the Kirschner wire, and the nail placement module includes a robotic arm interface for connecting to a robotic arm.

[0009] Specifically, the power platform further includes a nail placement module, and the pedicle screw is mounted on the nail placement module; The nail placement module is fixedly connected to the needle placement module, and the nail placement module is detachably connected to the nail placement module.

[0010] Specifically, the diameter of the body of the Kirschner wire is greater than the diameter of the needle tip. The end of the needle tip includes a double-sided cutting edge and a chip removal groove. The double-sided cutting edge is used for cutting bone, and the chip removal groove is used for discharging chips.

[0011] Specifically, the needle placement module includes a drive shaft, and the nail placement module includes a nail placement housing. A first motor and a main gear are arranged inside the nail placement housing. The first motor is connected to the main gear, and the main gear is connected to the drive shaft. The first motor is used to drive the main gear to rotate and drive the drive shaft to rotate.

[0012] Specifically, a second motor and a gear shaft are further arranged inside the nail placement housing. The second motor is connected to the gear shaft. The second motor is used to drive the gear shaft to rotate. An inner sleeve is arranged inside the second motor for passing the Kirschner wire.

[0013] Specifically, a third motor, a reducer, and a clutch are further arranged inside the nail placement housing. The third motor is connected to the reducer, and the reducer is connected to the clutch. A driving gear is installed at one end of the gear shaft. The driving gear is connected to the clutch. The other end of the gear shaft is connected to a first connecting device. The first connecting device is detachably connected to the nail placement module.

[0014] Specifically, the needle placement module includes a needle placement housing. An upper sleeve and a fixed sleeve are arranged inside the needle placement housing. The upper sleeve and the fixed sleeve are fixedly connected. The internal spaces of the upper sleeve and the fixed sleeve are communicated for passing the Kirschner wire. The fixed sleeve is fixedly connected to the drive shaft.

[0015] Specifically, the power platform further includes a cage. The cage is fixedly connected to the nail placement module and is detachably connected to the nail placement module.

[0016] Specifically, a moving space extending along the extending direction of the screw body is provided inside the screw body for passing the Kirschner wire. The milling component is installed at the end of the screw body. Threads are provided on the surface of the milling component, and grooves are provided on the threads. The milling component includes at least two tooth edges, and each tooth edge is arranged at intervals along the circumferential direction of the screw body at the end of the screw body.

[0017] Specifically, the pedicle screw further includes a nail head disposed at one end of the screw body away from the milling component. An installation hole is formed in the nail head, and the installation hole communicates with the moving space.

[0018] Specifically, the pedicle screw further includes a long tail of the nail body, and the long tail of the nail body is fixedly connected to the nail head; The long tail of the nail body has a connecting end and a fixed end. A first installation space is formed in the connecting end of the long tail of the nail body, and a second installation space is formed in the fixed end of the long tail of the nail body. The first installation space and the second installation space communicate with each other, and the nail head is movably disposed in the first installation space.

[0019] Specifically, the pedicle screw further includes a connecting component, and the connecting component includes a first connecting portion and a second connecting portion connected in sequence. Both the first connecting portion and the second connecting portion extend along the extending direction of the screw body. The first connecting portion is connected to the upper nail module, the second connecting portion is rotatably disposed in the second installation space, and the second connecting portion is rotatably connected to the fixed end of the long tail of the nail body.

[0020] According to a second aspect of the present invention, the present invention provides an orthopedic surgical robot, including the above automatic nail placement system. The orthopedic surgical robot further includes: A robot system, including a main control cart and a host cart. The main control cart includes an industrial control computer, a display, and an optical camera. The host cart includes a robotic arm, and a first connection structure is included at the end of the robotic arm. The first connection structure is used to connect the power platform; An optical marking module is fixedly disposed on the outer surface of the first connection structure, and the optical marking module is used to identify the pose of the robotic arm.

[0021] Beneficial effects: The present invention provides an automatic nail placement system and an orthopedic surgical robot. The orthopedic surgical robot includes a robot system, a power platform, and a matching Kirschner wire and pedicle screw. The power platform is fixedly connected to the end of the robotic arm and is rigidly connected to the optical marking module. Through the collaborative design of the needle placement module and the nail placement module, the automatic nail placement system integrates the Kirschner wire positioning and screw implantation processes onto the same robotic arm operation platform. With the instruction control of the robot system, the operation time is significantly shortened, and the surgical risk is further reduced. It solves the technical problems such as the easy sliding of the Kirschner wire and the dependence on manual labor for screw implantation in the prior art, and realizes the full-process automation and precise control from Kirschner wire positioning to screw implantation, providing a more efficient, stable, and safe solution for robot-assisted spinal surgery. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the structural composition of the automatic nail - setting system provided in the specific implementation manner of the present invention; Figure 2 It is a schematic diagram of the structural composition of the orthopedic surgical robot provided in the specific implementation manner of the present invention; Figure 3 It is a schematic diagram of the working process of the mainframe trolley provided in the specific implementation manner of the present invention; Figure 4 It is a schematic diagram of the structure of the Kirschner wire provided in the specific implementation manner of the present invention; Figure 5 It is a plan view of the Kirschner wire provided in the specific implementation manner of the present invention; Figure 6 It is a 3D view of the Kirschner wire provided in the specific implementation manner of the present invention; Figure 7 It is a schematic diagram of the Kirschner wire being inserted into the pedicle provided in the specific implementation manner of the present invention; Figure 8 It is a schematic diagram of the grinding channel of the Kirschner wire provided in the specific implementation manner of the present invention; Figure 9 It is a schematic diagram of the structure of the nail - feeding module provided in the specific implementation manner of the present invention; Figure 10 It is a schematic diagram of the structure of the pedicle screw provided in the specific implementation manner of the present invention; Figure 11 It is a schematic diagram of the structure of the milling component including 6 cutting edges provided in the specific implementation manner of the present invention; Figure 12 It is a schematic diagram of the structure of the milling component including 2 cutting edges provided in the specific implementation manner of the present invention; Figure 13 It is a schematic diagram of the structure of the pressing ring provided in the specific implementation manner of the present invention; Figure 14 It is a schematic diagram of the structure of the connecting component provided in the specific implementation manner of the present invention; Figure 15 It is a sectional view of the long tail of the nail body provided in the specific implementation manner of the present invention; Figure 16 It is a sectional view of the automatic nail - setting system provided in the specific implementation manner of the present invention; Figure 17 It is a sectional view of the structure of the nail - setting module provided in the specific implementation manner of the present invention; Figure 18 It is a top view of the gear shaft provided in the specific implementation manner of the present invention; Figure 19 It is a partial front view of the gear shaft provided in the specific implementation manner of the present invention; Figure 20 is a structural cross-sectional view of the needle placement module provided in the specific embodiment of the present invention Figure 21 is a schematic structural diagram of the transmission shaft provided in the specific embodiment of the present invention; Figure 22 is a schematic structural diagram of the fixed sleeve provided in the specific embodiment of the present invention; Among them, the above-mentioned drawings include the following reference numerals: 1, Kirschner wire; 2, needle placement module; 3, nail placement module; 4, needle body; 5, needle head; 6, needle tip; 7, pedicle screw; 8, robotic arm interface; 10, upper nail module; 12, double-sided cutting edge; 13, chip removal groove; 14, transmission shaft; 15, nail placement housing; 16, first motor; 17, main gear; 18, second motor; 19, gear shaft; 20, inner sleeve; 21, third motor; 22, reducer; 23, clutch; 24, driving gear; 25, first connecting device; 26, needle placement housing; 27, upper sleeve; 28, fixed sleeve; 29, cage; 30, screw body; 31, milling component; 33, moving space; 34, nail head; 36, nail body long tail; 37, connecting end; 38, fixed end; 39, first installation space; 40, second installation space; 41, connecting component; 42, first connecting portion; 43, second connecting portion; 44, hexagonal shaft; 45, positioning groove; 46, fixing nut; 47, orientation ring; 48, fixed shaft; 49, ball groove; 50, pressing ring; 51, rotating space; 52, through hole; 54, third connecting portion; 55, first gear; 56, first lead screw nut; 57, second gear; 58, hexagonal anti-rotation structure; 60, lead screw external thread; 61, connecting thread; 62, main control trolley; 63, host trolley; 64, industrial control computer; 65, display; 66, optical camera; 67, robotic arm; 68, optical marking module; 69, power platform; 70, patient tracer. Specific Embodiment

[0023] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "upper", "lower", "left", "right", etc., are only with reference to the directions of the drawings. Therefore, the directional terms used are for illustration rather than to limit the present invention.

[0024] The present invention will be further described below in conjunction with the drawings and preferred embodiments.

[0025] Please refer to Figures 1 - 22, this embodiment provides an automatic pinning system, including: a Kirschner wire 1, a pedicle screw 7, and a power platform 69, where: The Kirschner wire 1 includes a needle body 4 and a needle tip 5. The needle body 4 is fixedly connected to the needle tip 5. The needle tip 5 includes a needle point 6, and the needle point 6 is located at the end of the needle tip 5. The pedicle screw 7 includes a screw body 30 and a milling assembly 31. The power platform 69 includes a needle placement module 2 and a screw placement module 3. The needle placement module 2 is used to place the Kirschner wire 1 into the patient's spine, and the screw placement module 3 is used to place the pedicle screw 7 into the pedicle of the patient's spine.

[0026] It can be understood that the needle point 6 of the Kirschner wire 1 in this embodiment adopts a hemispherical design, rather than the conventional triangular tip or conical tip. During operation, it is only inserted into the bone by rotating the tip or slowly advancing. However, the present invention adopts the hemispherical needle point 6 design. By increasing the contact area between the needle point 6 and the bone surface and combining the precise force application of the robotic arm, the puncture pressure can be effectively dispersed, reducing the sliding risk of the Kirschner wire 1 on the hard bone surface, effectively preventing the deviation of the bone track caused by the deviation of the Kirschner wire 1, providing a precise guiding basis for the subsequent screw implantation, and completing the automatic needle placement or automatic screw placement operation by controlling the needle placement module 2 and the screw placement module 3 through the control module, solving the technical problems such as the easy sliding of the Kirschner wire 1 and the dependence on manual labor for screw implantation in the prior art.

[0027] See Figure 1 , in the automatic pinning system of this embodiment, the needle placement module 2 is detachably connected to the Kirschner wire 1. The screw placement module 3 includes a robotic arm interface 8, and the robotic arm interface 8 is used to connect to the robotic arm 67. The power platform 69 further includes a screw loading module 10, and the pedicle screw 7 is installed on the screw loading module 10. The screw placement module 3 is fixedly connected to the needle placement module 2, and the screw loading module 10 is detachably connected to the screw placement module 3. Through the fixed and detachable connection design between modules, while ensuring the surgical accuracy, the coherence and flexibility of the operation process are further optimized.

[0028] See Figures 4 - 6, in the automatic pin insertion system of this embodiment, the diameter of the needle body 4 is greater than that of the needle tip 5, ensuring the stability of the Kirschner wire 1 after insertion. The end of the needle tip 5 includes a double-sided cutting edge 12 and a chip removal groove 13. The double-sided cutting edge 12 is used for cutting bone tissue, and the chip removal groove 13 is used for discharging chips. The double-sided cutting edge 12 is located at the end of the needle tip 5, presenting a sharp edge shape. The chip removal groove 13 is located at the end of the needle tip 5. During the cutting process, the generated bone chips will be smoothly discharged through the chip removal groove 13, avoiding the blockage problem caused by chip accumulation and improving the surgical efficiency. The chip removal groove 13 extends along the needle tip 5 and closely cooperates with the double-sided cutting edge 12 to ensure a smooth cutting process. The double-sided cutting edge 12 is adjacent to the chip removal groove 13, jointly completing the functions of cutting and chip removal. The needle tip 6 is designed as a hemispherical shape. This design can reduce the risk of damage to nerves or other tissues when the Kirschner wire 1 accidentally penetrates deep into the medullary cavity. If the insertion depth of the Kirschner wire 1 exceeds the plan and enters the medullary cavity, the hemispherical needle tip 5 can play a buffering role, avoiding serious damage to the nerves or tissues in the medullary cavity caused by sharp edges, greatly increasing the surgical safety, reducing the risk of complications, solving the problem of the Kirschner wire 1 slipping, and further avoiding damage to the intramedullary nerves or tissues of the patient caused by the pointed tip.

[0029] Further, referring to Figures 7 - 8 , when the Kirschner wire 1 works, the needle insertion module 2 drives the Kirschner wire 1 to rotate at a high speed. Under the action of the double-sided cutting edge 12 of the needle tip 5, the bone tissue on the chip removal channel finally remains in the pedicle. As shown in Figure 6 , after guiding the insertion and removal of the pedicle screw 7, the needle tip 5 is responsible for cutting bone tissue and guiding the Kirschner wire 1 into the bone. Its design enables the Kirschner wire 1 to effectively cut bone tissue during high-speed rotation and discharge chips through the chip removal groove 13. If the insertion depth of the Kirschner wire 1 exceeds the plan and enters the medullary cavity, its hemispherical needle tip 5 can prevent serious damage to the nerves or tissues in the medullary cavity, enable high-speed grinding of the Kirschner wire 1, prevent the Kirschner wire 1 from slipping, and the hemispherical needle tip 5 can protect the patient from accidental injury.

[0030] Referring to Figure 9 , in some specific embodiments, the pedicle screw 7 is installed on the upper screw module 10. The upper screw module 10 is sequentially provided with a hexagonal shaft 44, a positioning groove 45, a fixing nut 46, an orientation ring 47, and a fixing shaft 48 from top to bottom. Among them, the hexagonal shaft 44 is the core component for power transmission. Through the matching of its hexagonal cross-section with the interface of the needle insertion module 3, the rotational torque is transmitted to the pedicle screw 7. The multi-plane contact design of the hexagonal cross-section can effectively avoid slipping during torque transmission, ensuring the stability of the rotation of the pedicle screw 7; the positioning groove 45 is used to provide mechanical feedback and limit control for the implantation depth of the pedicle screw 7. Referring to Figure 14, a ball groove 49 is provided on the first connecting device 25. The ball groove 49 is used for assembling a limiting steel ball, that is, a positioning ball. When the pedicle screw 7 reaches a predetermined depth, the positioning groove 45 cooperates with the positioning ball on the first connecting device 25. The positioning groove 45 is used to ensure that the nail-inserting module 10 is installed in place and locked; the fixing nut 46 is used to lock the connection between the pedicle screw 7 and the nail-inserting module 10 to ensure that the screw will not fall off during the implantation process; the orientation ring 47 is used to control the implantation angle and direction of the pedicle screw 7 to ensure consistency with the pre-operative planned trajectory; the fixed shaft 48 serves as the main support structure of the nail-inserting module 10, connects each component and transmits the axial pushing force, and evenly transmits the pushing force generated by the motor in the nail-inserting module 3 to the tip of the screw, avoiding bone structure damage caused by local stress concentration. The above design solves the problems of screw slipping and deviation caused by insufficient torque, angle deviation or depth out of control in traditional manual operations through the precise cooperation of mechanical structures, and significantly improves the safety and efficiency of the operation.

[0031] See Figure 10 , in some specific embodiments, the pedicle screw 7 is detachably connected to the nail-inserting module 10. The pedicle screw 7 includes a screw body 30 and a milling component 31. A moving space 33 extending along the extending direction of the screw body 30 is provided in the screw body 30. The moving space 33 is used for passing through a Kirschner wire 1. The milling component 31 is installed at the end of the screw body 30. Threads are provided on the surface of the milling component 31, and grooves are provided on the threads. The milling component 31 includes at least two tooth edges, and each tooth edge is arranged at intervals along the circumferential direction of the screw body 30 at the end of the screw body 30.

[0032] Furthermore, when it is necessary to bring the Kirschner wire 1 into contact with the target bone, the milling component 31 rotates at a high speed to cut out a recess in the target bone, and the rotation speed is preferably 5000 RPM - 15000 RPM, so that one end of the Kirschner wire 1 moves to the recess through the moving space 33 to guide the implantation direction of the screw body 30.

[0033] By adopting the above technical solution, threads are provided on the surface of the milling component 31, and grooves are provided on the threads, which can effectively cut bone mass and open up a channel for the screw to enter. The design of the grooves helps to discharge the bone chips generated during the cutting process, prevent blockage, and maintain the cutting efficiency. At least two tooth edges are arranged at intervals along the circumferential direction of the screw body to increase the cutting efficiency. The multiple tooth edges are evenly distributed and can provide multi-point contact during rotation, increasing the cutting area and improving the cutting efficiency. The design of this pedicle screw comprehensively considers the accuracy of surgical operation, cutting efficiency and fixation stability. It can not only effectively guide and implant the screw, but also efficiently cut bone mass and ensure firm fixation, providing reliable technical support for orthopedic surgery.

[0034] Please refer to Figure 12, in some specific embodiments, the milling component 31 can be provided with two cutting edges, each cutting edge extending along a preset direction, and the two cutting edges are arranged on both sides of the screw body 30; See Figure 11 , in some specific embodiments, the milling component 31 can be provided with six cutting edges, each cutting edge extending along a preset direction, and each cutting edge is arranged at intervals along the circumferential direction of the screw body 30 at the end of the screw body 30. Specifically, the selection of different numbers and layouts of cutting edges should be determined according to specific surgical requirements, bone hardness, and the required cutting efficiency and precision.

[0035] Specifically, see Figure 11 or Figure 12 , the pedicle screw 7 further includes a screw head 34, the screw head 34 is arranged at one end of the screw body 30 away from the milling component 31, and an installation hole is formed in the screw head 34, and the installation hole is communicated with the moving space 33.

[0036] Specifically, see Figure 14 、 Figure 15 and Figure 10 , the pedicle screw 7 further includes: a screw body long tail 36, the screw body long tail 36 is fixedly connected to the screw head 34; the screw body long tail 36 has a connection end 37 and a fixed end 38, a first installation space 39 is formed in the connection end 37 of the screw body long tail 36, a second installation space 40 is formed in the fixed end 38 of the screw body long tail 36, the first installation space 39 and the second installation space 40 are communicated, and the screw head 34 is movably arranged in the first installation space 39. Through the design of the screw body long tail 36, it is convenient to quickly implant the screw body 30 and increase the implantation speed.

[0037] See Figure 13 , the pedicle screw 7 further includes: a pressure ring 50, the pressure ring 50 is arranged in the first installation space 39, a rotation space 51 is formed on one side of the pressure ring 50, and a through hole 52 communicated with the rotation space 51, the screw head 34 is movably arranged in the rotation space 51. Through the design of the pressure ring 50, it is convenient to limit the screw head 34 and prevent the screw head 34 from detaching from the screw body long tail 36.

[0038] Specifically, see Figure 14 , the pedicle screw 7 further includes a connection component 41, the connection component 41 includes: a first connection part 42 and a second connection part 43 connected in sequence, both the first connection part 42 and the second connection part 43 extend along the extension direction of the screw body 30, the first connection part 42 is connected to the upper screw module 10, the second connection part 43 is rotatably arranged in the second installation space 40, and the second connection part 43 is rotatably connected to the fixed end 38 of the screw body long tail 36.

[0039] See Figure 15, in some specific embodiments, the connecting component 41 has a first connecting end and a second connecting end. The first connecting end of the connecting component 41 is used to pass through the second installation space 40 and the through hole 52 to connect with the nail head 34, and the second connecting end of the connecting component 41 is used to connect with the nail driving module 10. The nail placing module 3 can drive the screw body 30 to rotate forward or backward through the connecting component 41; In some specific embodiments, refer to Figure 14 , the connecting component 41 includes a first connecting portion 42, a second connecting portion 43 and a third connecting portion 54 connected in sequence. The first connecting portion 42, the second connecting portion 43 and the third connecting portion 54 all extend along the extending direction of the screw body 30. The first connecting portion 42 is connected to the fixed shaft 48 of the nail driving module 10. The second connecting portion 43 is rotatably arranged in the second installation space 40, and the second connecting portion 43 is rotatably connected to the fixed end 38 of the long tail 36 of the nail body. The third connecting portion 54 passes through the second installation space 40, the first installation space 39 and the through hole 52 in sequence to connect with the nail head 34. The nail driving module 10, the long tail 36 of the nail body and the nail head 34 are respectively connected through the first connecting portion 42, the second connecting portion 43 and the third connecting portion 54 to prepare for the next implantation of the screw body 30. There is no need to implant it manually, and the implantation speed of the robot is faster and more accurate.

[0040] Furthermore, the above nail driving module 10 can be replaced by other tools, such as a surgical instrument that needs to be driven, such as an automatic retractor.

[0041] Refer to Figure 16 and Figure 17 , in the automatic nail placing system of this embodiment, the needle placing module 2 includes a transmission shaft 14, and the nail placing module 3 includes a nail placing housing 15. A first motor 16 and a main gear 17 are arranged in the nail placing housing 15. The first motor 16 is connected to the main gear 17, and the main gear 17 is connected to the transmission shaft 14. The first motor 16 is used to drive the main gear 17 to rotate, thereby driving the transmission shaft 14 to rotate.

[0042] Furthermore, refer to Figure 16 and Figure 17 , the first motor 16 includes an output shaft, and the main gear 17 is installed on the output shaft of the first motor 16. Through key connection or other appropriate fixing methods (such as fastening screws), it is ensured that the rotation of the output shaft of the first motor 16 can be directly transmitted to the main gear 17. The main gear 17 is connected to the transmission shaft 14. As Figure 21 shown in the structure of the transmission shaft 14, the transmission shaft 14 includes a first gear 55 and a first screw nut 56. Therefore, the main gear 17 and the transmission shaft 14 are connected through gear meshing to achieve transmission.

[0043] Specifically, refer to Figure 16 and Figure 17, inside the nail-inserting housing 15, a second motor 18 and a gear shaft 19 are further provided. The second motor 18 is connected to the gear shaft 19. The second motor 18 is used to drive the gear shaft 19 to rotate. Inside the second motor 18, an inner sleeve 20 is provided for passing the Kirschner wire 1 through it.

[0044] See Figure 17 and Figure 18 , in some specific embodiments, the gear shaft 19 includes a second gear 57 and a hexagonal anti-rotation structure 58, as Figure 15 shown. The hexagonal anti-rotation structure 58 matches the hexagonal shaft 44 of the nail-inserting module 10. The hexagonal anti-rotation structure 58 forms a rigid fit with the corresponding interface of its connecting component through its hexagonal cross-section, ensuring that the gear shaft 19 remains synchronized with adjacent components during rotation and avoiding power loss caused by sliding or misalignment during torque transmission. The inner sleeve 20 is arranged at the central position of the second motor 18 for allowing the Kirschner wire 1 to pass through stably when the second motor 18 is operating, avoiding interference and maintaining precise position control at the same time.

[0045] Furthermore, the output shaft of the second motor 18 can be designed as a hexagonal shaft 44, forming a tight geometric match with the inner hole of the hexagonal anti-rotation structure 58 of the gear shaft 19, as Figure 18 and Figure 19 shown. The hexagonal cross-section realizes gapless meshing through multi-plane contact, ensuring no relative sliding during torque transmission. The inner sleeve 20 of the second motor 18 penetrates the center of its output shaft, and a coaxial through-hole is also provided inside the hexagonal anti-rotation structure 58 of the gear shaft 19, forming a continuous passage for the Kirschner wire 1.

[0046] Specifically, see Figure 14 , inside the nail-inserting housing 15, a third motor 21, a speed reducer 22 and a clutch 23 are further provided. The third motor 21 is connected to the speed reducer 22, and the speed reducer 22 is connected to the clutch 23.

[0047] See Figure 17 , in some specific embodiments, the third motor 21 is directly connected to the input end of the speed reducer 22 through its output shaft, and key connection or coupling can be adopted to ensure that the rotational movement of the third motor 21 can be efficiently transmitted to the speed reducer 22. The output end of the speed reducer 22 is connected to the input end of the clutch 23, and spline connection or rigid meshing of the hexagonal anti-rotation structure 58 with the input end of the clutch 23 can be used. The speed reducer 22 is used to convert the high-speed and low-torque output of the third motor 21 into low-speed and high-torque suitable for subsequent transmission, and then the power engagement and disengagement control is carried out through the clutch 23.

[0048] Specifically, see Figure 17, one end of the gear shaft 19 is provided with a driving gear 24, the driving gear 24 is connected to the clutch 23, the other end of the gear shaft 19 is connected to the first connecting device 25, and the first connecting device 25 is detachably connected to the nail - driving module 10.

[0049] See Figure 17 , in some specific embodiments, the output end of the clutch 23 is connected to the driving gear 24, and its working process is as follows: when the clutch 23 is engaged, the driving gear 24 is driven to rotate; when the clutch 23 is disengaged, the driving gear 24 stops rotating. The connection between the clutch 23 and the driving gear 24 can be achieved through splines, flat keys or other mechanical connection methods. The driving gear 24 is mounted on the gear shaft 19 and drives the gear shaft 19 to rotate by meshing. The other end of the gear shaft 19 is fixedly connected to the first connecting device 25, and the first connecting device 25 is used for conveniently installing and disassembling the nail - driving module 10.

[0050] See Figure 20 , the needle - placing module 2 includes a needle - placing housing 26. Inside the needle - placing housing 26, there are an upper sleeve 27 and a fixed sleeve 28. The upper sleeve 27 and the fixed sleeve 28 are fixedly connected, and the fixed sleeve 28 is fixedly connected to the transmission shaft 14. This design can ensure that the transmission shaft 14 can drive the fixed sleeve 28 to move together when rotating. The Kirschner wire 1 is detachably connected to the upper sleeve 27.

[0051] Specifically, see Figure 20 and Figure 21 , the transmission shaft 14 includes a first gear 55 and a first lead screw nut 56. There is a lead screw thread on the first lead screw nut 56, and there is an external lead screw thread 60 on the fixed sleeve 28. The fixed sleeve 28 is threadedly connected to the transmission shaft 14.

[0052] See Figure 20 and Figure 22 , the upper sleeve 27 is located above the fixed sleeve 28. There is a connecting thread 61 above the fixed sleeve 28 and an external lead screw thread 60 below the fixed sleeve 28. The upper sleeve 27 and the fixed sleeve 28 are fixed through threaded connection, and the fixed sleeve 28 and the transmission shaft 14 are also threadedly connected. There are coaxial through - holes inside the upper sleeve 27 and the fixed sleeve 28 for passing the Kirschner wire 1, and together with the inner sleeve 20 in the nail - placing module 3, they form a Kirschner wire 1 channel. The transmission shaft 14 is meshed and connected to the main gear 17 through the first gear 55.

[0053] See Figure 1 , the automatic nail - placing system in this embodiment further includes a cage 29. The cage 29 is fixedly connected to the nail - placing module 3 and is detachably connected to the nail - driving module 10. This helps the nail - driving module 10 to rotate more smoothly at high speed, and then drives the high - speed rotation of the pedicle screw 7.

[0054] It should be further noted that, referring to Figures 1 - 22 , the working process of the automatic nail placement system in this embodiment is as follows: (1) Preoperative preparation The operation process of the Kirschner wire 1 and the nail placement module 10 before spinal surgery includes: First, install the pedicle screw 7 on the nail placement module 10 through the fixing nut 46, install the nail placement module 10 on the nail placement module 3 through the first connecting device 25, and then assemble it on the robotic arm through the robotic arm interface 8 to complete the preoperative preparation.

[0055] (2) Surgical process After the robotic arm drives the power platform 69 in this embodiment to the planned position, the robot system issues an instruction for automatic nail placement. The first motor 16 in the nail placement module 3 drives the main gear 17 to rotate, driving the transmission shaft 14 to rotate. Under the action of the first lead screw nut 56 of the transmission shaft 14, the fixed sleeve 28 and the Kirschner wire 1 move downward to the required depth; then the second motor 18 drives the gear shaft 19 to rotate at high speed, thereby driving the nail placement module 10 to rotate at high speed. Among them, the cage 29 can help the nail placement module 10 rotate more smoothly at high speed. At the same time, the robotic arm moves downward along the axis of the pedicle screw 7 until the milling component 31 of the pedicle screw 7 completely grinds the cortical bone of the patient's spine, and then the robotic arm and the first motor 16 stop moving; the third motor 21 rotates slowly under the action of the reducer 22, and at the same time the clutch 23 engages, driving the driving gear 24 to rotate, and the driving gear 24 drives the gear shaft 19 and the nail placement module 10 to rotate, thereby realizing the placement of the pedicle screw 7.

[0056] It should be noted here that this embodiment provides an automatic nail placement system. Through the collaborative design of the needle placement module and the nail placement module, the system integrates the Kirschner wire positioning and screw implantation processes onto the same robotic arm operation platform. With the instruction control of the robot system, the surgical duration is significantly shortened, the pollution risk is further reduced, and the technical problems such as the easy sliding of the Kirschner wire and the dependence on manual labor for screw implantation in the prior art are solved. The full process from Kirschner wire positioning to screw implantation is realized with automation and precise control, providing a more efficient, stable and safe solution for robot-assisted spinal surgery.

[0057] Please refer to Figure 2 and Figure 3, this embodiment provides an orthopedic surgical robot, which includes the above automatic nail insertion system and also includes a robot system. The robot system includes a main control trolley 62 and a host trolley 63. The main control trolley 62 includes an industrial control computer 64, a display 65, and an optical camera 66. The host trolley 63 includes a robotic arm 67. The end of the robotic arm 67 includes a first connection structure for connecting to a power platform 69. An optical identification module 68 is provided on the outer surface of the first connection structure. The optical identification module 68 is used to identify the pose of the robotic arm.

[0058] Further, the nail insertion module 3 includes a robotic arm interface 8, that is, the nail insertion module 3 is connected to the first connection structure at the end of the robotic arm 67 through the robotic arm interface 8, so as to realize the connection between the power platform 69 and the orthopedic surgical robot. That is, the orthopedic robot can control the nail insertion process of the automatic nail insertion system through instructions, and further realize the automatic insertion process of the pedicle screw 7.

[0059] It can be understood that in this embodiment, by arranging the power platform 69 at the end of the robotic arm 67 of the robot system, the entire process of automatic operation from the insertion of the Kirschner wire 1 to the insertion of the pedicle screw 7 is realized, greatly reducing the manual operation links of the doctor.

[0060] See Figure 2, in the orthopedic surgical robot of this embodiment, each component of the robot system (industrial control computer 64, display 65, optical camera 66, and optical marking module 68) undertakes specific functions and tasks. Specifically, the industrial control computer 64 is the control center of the entire robot system, responsible for processing data from various sensors and sending instructions to the robotic arm and other actuators. It can process a large amount of image, position, and attitude information in real time and store this data for subsequent analysis or recording. Doctors can perform planning, recognition, and real-time monitoring through the keyboard and mouse. The main control controls the robotic arm of the host through the network cable to achieve various operations. Various control algorithms and image processing algorithms are running on the industrial control computer 64 for path planning, attitude recognition, error correction, etc. The display 65 provides an intuitive operation interface for the operator. Through the display 65, the operator can view the working status of the robot in real time, including the position and attitude of the robotic arm and the image of the surgical area. The display 65 is usually equipped with a touch function, allowing the operator to directly perform functions such as parameter setting and manual adjustment on the interface. The optical camera 66 is used to capture images of the surgical area and provide high-resolution visual feedback. Through image processing technology, the optical camera 66 can accurately locate the target position and track the movement of the target in real time. The optical marking module 68 is installed at the end of the robotic arm and is used to identify the attitude (position and direction) of the robotic arm. It usually consists of a set of reflective markers that can be tracked by an external camera or other optical sensors. According to the identified attitude information, the optical marking module 68 can help the robotic arm achieve precise motion control and ensure that it moves along the predetermined trajectory.

[0061] Furthermore, through the collaborative work of the industrial control computer, display, optical camera, and optical marking module, a closed-loop control system is formed. The industrial control computer is responsible for overall control and data processing, the display provides a human-machine interaction interface, the optical camera provides visual feedback, and the optical marking module ensures the precise operation of the robotic arm, significantly improving the overall accuracy and reliability of the system, enabling the automatic nail insertion system to operate efficiently in a complex medical environment. And through the real-time monitoring and feedback mechanism, this system not only improves the success rate of the surgery, but also reduces the trauma to the patient and the recovery time, enhancing the overall efficiency of the surgery.

[0062] See Figure 2 , the working process of the orthopedic surgical robot in this embodiment is illustrated below through specific examples: Step 1: After the surgical bed is covered with a sheet, the patient lies prone on the surgical bed; Step 2: Place the patient tracer 70 on the patient's vertebral body and use the optical camera 66 to identify the position of the vertebral body; Step 3: Reasonably place the mainframe trolley 63 and the main control trolley 62. Generally, the main control trolley 62 is located on the side of the patient's head, and the mainframe trolley 63 is located on the opposite side of the operating table, close to the lesion area (i.e., the area of the vertebral body where the screw is to be inserted). Before placement, cover the main control trolley 62 and the mainframe trolley 63 with a sterile film to ensure a sterile environment; Step 4: Use the optical camera 66 to capture the intraoperative CBCT image and transmit it to the industrial computer 64 in the main control trolley, and plan the implantation site and specifications of the pedicle screw 7 according to needs; Step 5: Fix the sterilized power platform 69 to the end of the robotic arm 67 and rigidly connect it to the optical marking module 68; Step 6: After connecting the pedicle screw with screws, it can be connected to the power platform 69 through a quick connection mechanism, that is, the first connection structure. In the minimally invasive surgical procedure, a protective sleeve is designed to protect the pedicle screw 7 to prevent it from rubbing against soft tissues during the process of entering the skin and inserting the screw, causing patient injury. The form of this sleeve is not limited; Step 7: Load the Kirschner wire 1 into the power platform 69, and tighten it after aligning the tip 6 of the Kirschner wire 1 with the tip of the pedicle screw 7; Step 8: According to the plan, the robotic system guides the robotic arm to the screw planning position, keeping the axes of the pedicle screw 7 and the power platform 69 aligned with the axis of the planned screw, and inserts the pedicle screw 7 along the axis into the skin that has been incised (in the case of minimally invasive surgery), and stops when the tip of the pedicle screw 7 touches the cortex; Step 9: The power platform 69 controls the pedicle screw 7 to rotate at high speed in the reverse direction (>10000 RPM) and penetrate 2-5 mm axially into the bone mass, and stop after ensuring that the cortical bone is broken through. During this process, a protective sleeve is provided between the pedicle screw 7 and the nail insertion module 10 and the skin to prevent rubbing against soft tissues; Step 10: The power platform 69 controls the movement of the Kirschner wire 1 to extend 5-10 mm beyond the tip of the pedicle screw 7 to form a guiding effect in the pedicle; Step 11: The power platform 69 controls the pedicle screw 7 to rotate forward and apply pressure axially. At this time, the pedicle screw 7 rotates under the guidance of the Kirschner wire 1 and engages with the bone mass, and gradually enters the bone mass until the tip of the pedicle screw 7 is aligned with the tip of the Kirschner wire 1; Step 12: Repeat the above steps 10 and 11 until the pedicle screw 7 reaches the planned position. Whether it reaches the planned position can be observed on the monitor 65 here; Step 13: After the power platform 69 controls the Kirschner wire 1 to retract to a certain position, manually loosen the nail insertion module 10, and the robotic arm drives the entire power platform 69 to retract, completing the implantation of one pedicle screw.

[0063] It should be noted here that this embodiment provides an orthopedic surgical robot, including a robot system, an automatic needle placement system, and supporting Kirschner wires and pedicle screws. Among them, the power platform is fixedly connected to the end of the robotic arm and rigidly connected to the optical identification module. Through the collaborative design of the needle placement module and the screw placement module, the system integrates the Kirschner wire positioning and screw implantation processes onto the same robotic arm operation platform. With the instruction control of the robot system, the surgical duration is significantly shortened, and the pollution risk is further reduced. It solves the technical problems such as the easy sliding of Kirschner wires and the dependence on manual operation for screw implantation in the prior art, and realizes the full-process automation and precise control from Kirschner wire positioning to screw implantation, providing a more efficient, stable and safe solution for robot-assisted spinal surgery.

[0064] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such a combination is not contradictory.

[0065] The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic nail placement system, characterized in that: include: A Kirschner wire (1) comprises a needle body (4) and a needle head (5), wherein the needle body (4) is fixedly connected to the needle head (5), and the needle head (5) comprises a needle tip (6), and the needle tip (6) is located at the end of the needle head (5); A pedicle screw (7), comprising a screw body (30) and a milling assembly (31); The power platform (69) comprises a needle placement module (2) and a screw placement module (3), wherein the needle placement module (2) is used to place a Kirschner wire (1) into a patient's spine, and the screw placement module (3) is used to place a pedicle screw (7) into a pedicle of the patient's spine.

2. The automatic nail placement system according to claim 1, characterized in that: The needle placement module (2) is detachably connected to the Kirschner wire (1), and the nail placement module (3) comprises a robotic arm interface (8), wherein the robotic arm interface (8) is used to connect to a robotic arm (67).

3. The automatic nail placement system according to claim 2, characterized in that: The power platform (69) further comprises a screw-in module (10), and the pedicle screw (7) is mounted on the screw-in module (10); The nail placement module (3) is fixedly connected to the needle placement module (2), and the nail insertion module (10) is detachably connected to the nail placement module (3).

4. The automatic nail placement system according to claim 1, characterized in that: The diameter of the needle body (4) of the Kirschner wire (1) is greater than the diameter of the needle head (5); the end of the needle head (5) comprises a double-sided cutting edge (12) and a chip removal groove (13); the double-sided cutting edge (12) is used for cutting bone, and the chip removal groove (13) is used for discharging debris.

5. The automatic nail placement system according to claim 2, characterized in that: The needle placement module (2) comprises a transmission shaft (14), and the nail placement module (3) comprises a nail placement housing (15). A first motor (16) and a main gear (17) are arranged in the nail placement housing (15). The first motor (16) and the main gear (17) are connected, and the main gear (17) and the transmission shaft (14) are connected. The first motor (16) is used to drive the main gear (17) to rotate, thereby driving the transmission shaft (14) to rotate.

6. The automatic nail placement system according to claim 5, characterized in that: A second motor (18) and a gear shaft (19) are also provided inside the nail placement housing (15); the second motor (18) and the gear shaft (19) are connected; the second motor (18) is used to drive the gear shaft (19) to rotate; an inner sleeve (20) is provided inside the second motor (18) for passing the Kirschner wire (1).

7. The automatic nail placement system according to claim 6, characterized in that: A third motor (21), a reducer (22) and a clutch (23) are also arranged inside the nail placing housing (15); the third motor (21) is connected to the reducer (22); the reducer (22) is connected to the clutch (23); a driving gear (24) is mounted on one end of the gear shaft (19); the driving gear (24) is connected to the clutch (23); the other end of the gear shaft (19) is connected to a first connecting device (25); and the first connecting device (25) is detachably connected to the nail placing module (10).

8. The automatic nail placement system according to claim 7, characterized in that: The needle placement module (2) comprises a needle placement housing (26), an upper sleeve (27) and a fixed sleeve (28) are arranged inside the needle placement housing (26), the upper sleeve (27) and the fixed sleeve (28) are fixedly connected, the internal spaces of the upper sleeve (27) and the fixed sleeve (28) are communicated, and are used to pass the Kirschner wire (1), and the fixed sleeve (28) is fixedly connected to the transmission shaft (14).

9. The automatic nail placement system according to claim 3, characterized in that: The power platform (69) further comprises a retaining frame (29), wherein the retaining frame (29) is fixedly connected to the nail placing module (3), and the retaining frame (29) is detachably connected to the nail placing module (10).

10. The automatic nail placement system according to claim 1, characterized in that: The screw body (30) is provided with a movable space (33) extending along the extension direction of the screw body (30), and the movable space (33) is used to insert a Kirschner wire (1). The milling assembly (31) is installed at the end of the screw body (30), and the surface of the milling assembly (31) is provided with a thread, and the thread is provided with a groove. The milling assembly (31) includes at least two tooth blades, and each tooth blade is arranged at intervals at the end of the screw body (30) along the circumferential direction of the screw body (30).

11. The automatic nail placement system according to claim 10, characterized in that: The pedicle screw (7) further comprises a nail head (34), wherein the nail head (34) is arranged at an end of the screw body (30) away from the milling assembly (31), and a mounting hole is provided on the nail head (34), wherein the mounting hole is connected to the moving space (33).

12. The automatic nail placement system according to claim 11, characterized in that: The pedicle screw (7) further comprises: a nail body long tail (36), wherein the nail body long tail (36) is fixedly connected to the nail head (34); The nail body long tail (36) has a connecting end (37) and a fixed end (38); the connecting end (37) of the nail body long tail (36) is provided with a first installation space (39); the fixed end (38) of the nail body long tail (36) is provided with a second installation space (40); the first installation space (39) and the second installation space (40) are connected; and the nail head (34) is movably arranged in the first installation space (39).

13. The automatic nail placement system according to claim 12, characterized in that: The pedicle screw (7) further comprises a connecting assembly (41), wherein the connecting assembly (41) comprises: a first connecting portion (42) and a second connecting portion (43) connected in sequence, wherein the first connecting portion (42) and the second connecting portion (43) both extend along the extension direction of the screw body (30), the first connecting portion (42) is connected to the upper screw module (10), the second connecting portion (43) is rotatably arranged in the second installation space (40), and the second connecting portion (43) is rotatably connected to the fixed end (38) of the long tail (36) of the screw body.

14. An orthopedic surgical robot, characterized in that: The automatic nail placement system according to any one of claims 1 to 13, wherein the orthopedic surgical robot further comprises: A robot system, comprising a main control trolley (62) and a host trolley (63), wherein the main control trolley (62) comprises an industrial computer (64), a display (65) and an optical camera (66), and the host trolley (63) comprises a mechanical arm (67), wherein the end of the mechanical arm (67) comprises a first connection structure, and the first connection structure is used to connect to the power platform (69); An optical identification module (68) is fixedly arranged on the outer surface of the first connection structure, and the optical identification module (68) is used to identify the position and posture of the mechanical arm (67).

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