Solid screw imbedding device used in cooperation with orthopedic surgery robot

Abstract

The invention provides a solid screw imbedding device matched with an orthopedic surgery robot for use. The solid screw imbedding device comprises a fixed sleeve (1), a screw rod (2) and a screw rod (3), wherein the fixed sleeve (1) is mounted on a mechanical arm tail end guider (7) of the orthopedic surgery robot; the fixing sleeve (1) is of a hollow cylindrical structure, and the depth adjusting screw (2) is installed in one end of the fixing sleeve (1) through the fixing knob (3). The fixed knob (3) is sleeved at one end of the fixed sleeve (1); the depth adjusting screw (2) is in threaded connection with the fixed sleeve (1); a hollow pipeline is arranged in the depth adjusting screw (2), and a drill bit (6) is arranged in the hollow pipeline in a penetrating mode. The device has very high repeated installation precision and higher screw placement precision and imbedding accuracy, the depth can be determined by observing the scale of the pointer, the device is visual and rapid, meanwhile, the device can be matched with insertion blocks of drill bits with different diameters, the drill bits with different specifications can be rapidly replaced, and the device is firm and reliable.

Description

Technical Field

[0001] The present invention relates to a solid screw implantation device, in particular to a solid screw implantation device used in conjunction with an orthopedic surgical robot. Background Art

[0002] The information provided in this section is only background information related to the present disclosure and does not necessarily represent prior art.

[0003] With the continuous development of medical technology, surgical robots are being used more and more widely. However, in the prior art, the solid screw implantation device used in conjunction with an orthopedic surgical robot has the defect that it is difficult to ensure the stability of the drill bit extension length and extension direction. When dealing with different patients, it is difficult to accurately control the drill bit extension length, or the extension amount cannot be visually observed, causing certain difficulties and risks in subsequent surgical steps and unable to meet the actual needs.

[0004] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] Object of the Invention: The technical problem to be solved by the present invention is to provide a solid screw implantation device used in conjunction with an orthopedic surgical robot in view of the deficiencies of the prior art.

[0006] To solve the above technical problem, the present invention discloses a solid screw implantation device used in conjunction with an orthopedic surgical robot, comprising:

[0007] A fixed sleeve installed on the end effector of the robotic arm of the orthopedic surgical robot; the fixed sleeve is a hollow cylindrical structure, and a depth adjustment screw is installed inside one end thereof through a fixing knob; the fixing knob is sleeved on one end of the fixed sleeve; the depth adjustment screw is threadedly connected to the fixed sleeve; the inside of the depth adjustment screw is a hollow pipe, through which a drill bit is inserted.

[0008] Further, a depth indicating device is provided on the fixed sleeve for displaying the depth of penetration of the depth adjustment screw into the fixed sleeve.

[0009] Further, a guiding convex block is provided in the middle of the fixed sleeve, and a guiding groove is provided on the end effector of the robotic arm. The fixed sleeve is installed on the end effector of the robotic arm by fitting the guiding convex block into the guiding groove.

[0010] Further, a locking structure is provided at one end of the fixed sleeve, and the fixing knob locks the depth adjustment screw through the locking structure.

[0011] Further, the locking structure includes:

[0012] A first external thread provided on the outer side of one end of the fixed sleeve, the first external thread meshing with the thread inside the fixed knob, with more than 2 locking pieces provided at the end, the inner wall of the locking piece being provided with a first internal thread, a gap being provided between adjacent locking pieces, and a locking piece inclined surface being provided at the end of the locking piece.

[0013] Further, the fixed knob is a hollow columnar structure, with a second internal thread provided at one end inside it for meshing with the thread at one end of the fixed sleeve, and a pressing block provided at the other end.

[0014] Further, one end of the depth adjustment screw is fixedly provided with a knob, and a second external thread is provided on the outer side of the middle part, the second external thread meshing with the thread inside the fixed sleeve.

[0015] Further, the depth indicating device includes:

[0016] A scale window provided on the side wall of the fixed sleeve at the position of the movable range of the bottom end of the depth adjustment screw for observing the position of the bottom end of the depth adjustment screw;

[0017] The depth indicating device further includes:

[0018] A pointer rotatably provided at the bottom end of the depth adjustment screw, the pointer sliding within the scale window;

[0019] The depth indicating device further includes:

[0020] A pointer ring rotatably provided at the bottom end of the depth adjustment screw, the pointer being fixedly provided on the pointer ring.

[0021] Further, an adaptation device is provided on the fixed sleeve for adapting to and fixing drill bits of different diameters.

[0022] Further, the adaptation device includes:

[0023] An expansion slot opened on the fixed sleeve and an expansion plate for installing drill bits of different diameters, the expansion plate being inserted into the expansion slot;

[0024] The expansion plate is provided with more than 2 adaptation through holes for the drill bit to pass through, the inner diameter of the adaptation through hole being set according to the outer diameter of the drill bit;

[0025] In the middle of the expansion plate, a limiting slot is opened in a direction perpendicular to the axial direction of the fixed sleeve, and a limiting hole is opened at the corresponding position on the fixed sleeve, and limiting is carried out by inserting a limiting pin into the limiting slot and the limiting hole;

[0026] A plurality of abutting grooves are provided at both ends of the extension board, and ball plunger holes are provided at corresponding positions of the fixed sleeve. The ball plunger passes through the ball plunger holes and abuts against the abutting grooves to fix the position of the extension board.

[0027] Advantages:

[0028] 1. In the present invention, the fixed sleeve and the end guide of the navigation robotic arm are positioned by a boss and a groove, having high repeated installation accuracy, higher screw placement accuracy and insertion accuracy.

[0029] 2. The depth adjustment screw in the present invention can be adjusted to the corresponding drilling depth according to the requirements of the screw length during the operation. Observe the pointer scale to determine the depth, which is intuitive and fast. After adjusting to the required depth, the depth adjustment screw can be locked by rotating the fixing knob.

[0030] 3. In the present invention, an insertion block adaptable to various drill bits with different diameters is designed, which can quickly replace drill bits of different specifications and is firm and reliable. Description of the Drawings

[0031] The following further specifically describes the present invention in conjunction with the drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0032] Figure 1 is the overall structural schematic diagram of the present invention.

[0033] Figure 2 is the schematic diagram of the split main structure in an embodiment.

[0034] Figure 3 is the schematic cross-sectional view of the main structure in an embodiment.

[0035] Figure 4 is the structural schematic diagram of the depth adjustment screw in an embodiment.

[0036] Figure 5 is the overall structural schematic diagram of Embodiment 2.

[0037] Figure 6 is the structural schematic diagram of the adapter device in Embodiment 2.

[0038] In the figure, 1 is the fixed sleeve, 2 is the depth adjustment screw, 3 is the fixing knob, 4 is the depth indicating device, 5 is the guiding boss, 6 is the drill bit, 7 is the end guide of the robotic arm, and 8 is the adapter device;

[0039] 101 is the first external thread, 102 is the locking piece, 103 is the inclined surface of the locking piece, and 104 is the first internal thread;

[0040] 201 is the knob, 202 is the second external thread, and 203 is the pointer ring;

[0041] 301 is the second internal thread, and 302 is the pressing block;

[0042] 401 is the pointer, and 402 is the scale window;

[0043] 701 is the guiding groove;

[0044] 801 is the extension slot, 802 is the extension plate, 803 is the adaptation through hole, 804 is the limiting hole, 805 is the limiting groove, 806 is the ball plunger hole, 807 is the abutting groove, and 808 is the ball plunger. Detailed implementation mode

[0045] The technical solution adopted by the present invention has a structure as Figure 1 shown, including: a fixed sleeve 1 installed on the end effector 7 of the robotic arm. The fixed sleeve 1 is a hollow cylindrical structure. Inside the fixed sleeve 1, a depth adjustment screw 2 is installed through a fixed knob 3. The fixed knob 3 is sleeved on one end of the fixed sleeve 1 to tighten and fix the position of the depth adjustment screw 2. The depth adjustment screw 2 is threadedly connected to the fixed sleeve 1 and extends and retracts at one end of the fixed sleeve 1 when rotated. The inside of the depth adjustment screw 2 is a hollow pipe, and the drill bit 6 passes through it.

[0046] A depth indicating device 4 is provided on the fixed sleeve 1 for displaying the depth of the depth adjustment screw 2 penetrating into the fixed sleeve 1.

[0047] A guiding convex block 5 is provided in the middle of the fixed sleeve 1, and a guiding groove 701 is provided on the end effector of the robotic arm. The fixed sleeve 1 is installed in the guiding groove 701 through the guiding convex block 5.

[0048] As Figure 2 shown, a locking structure is provided at one end of the fixed sleeve 1. The locking structure includes a first external thread 101 and more than 2 locking pieces 102. The inner wall of the locking piece 102 is provided with a first internal thread 104. A gap is left between adjacent locking pieces 102, and a locking piece inclined surface 103 is provided at the end of the locking piece 102.

[0049] The fixed knob 3 is a hollow cylindrical structure. As Figure 3 shown, a second internal thread 301 meshing with the first external thread 101 is provided at one end of its inner side, and a pressing block 302 is provided at the other end. The pressing block 302 is a slope on the inner side of the fixed knob, and the inclination angle of this slope is adapted to the locking piece inclined surface 103.

[0050] As Figure 4 shown, for the depth adjustment screw 2, a knob 201 is provided at one end, and a second external thread 202 is provided in the middle.

[0051] During use, the fixing knob 3 is sleeved in the middle of the depth adjustment screw 2, and the depth adjustment screw 2 is sleeved in the fixing sleeve 1. At this time, when the fixing knob 3 is screwed in, the pressing block 302 inside the fixing knob 3 acts on the locking piece inclined surface 103 of the locking piece 102, causing the locking piece 102 to deform, and the first internal thread 104 presses the second external thread 202 of the depth adjustment screw 2, so that the fixing knob 3 locks the depth adjustment screw 2, completing the depth adjustment.

[0052] Finally, the drill bit 6 is inserted into the depth adjustment screw 2, and one end of the drill bit 6 extends out of the fixing sleeve 1 to complete the installation and positioning.

[0053] In one embodiment, at the position corresponding to the bottom end of the depth adjustment screw 2 on the fixing sleeve 1, a depth indicating device 4 is provided; the depth indicating device 4 can be a scale window 402 for observing the screwing depth of the depth adjustment screw 2.

[0054] In one embodiment, at one end of the depth adjustment screw 2 away from the knob 201, a pointer 401 is rotatably arranged, and the pointer 401 slides in the scale window 402, enabling more clear observation of the numerical value.

[0055] In one embodiment, the scale range of the scale window 402 is set to 0 - 25 mm.

[0056] In one embodiment, at one end of the depth adjustment screw 2 away from the knob 201, a pointer ring 203 is rotatably sleeved, and the pointer 401 is fixed on the pointer ring 203 and rotates at the fixed position of the depth adjustment screw 2.

[0057] Embodiment 2:

[0058] In another embodiment, as Figure 5 shown, an adapter device 8 is provided on the fixing sleeve 1 for adapting to and fixing drill bits 6 of different diameters.

[0059] As Figure 6 shown, an expansion slot 801 is opened at the front end of the fixing sleeve 1 for movably installing the expansion plate 802 of the drill bit. The expansion plate 802 has a plurality of channels for the drill bit to pass through, that is, the adapter through holes 803, which can be set as needed according to the diameter of the fixing sleeve 1, and can be 2, 3, or more than 3. In this embodiment, 3 is preferred.

[0060] In one embodiment, the inner diameters of the 3 adapter through holes 803 are different to adapt to drill bits 6 of different diameters.

[0061] In one embodiment, a limiting slot 805 is opened in the middle of the expansion plate 802 in a direction perpendicular to the axial direction of the fixing sleeve 1, and a limiting hole 804 is opened at the corresponding position on the fixing sleeve 1. The limiting slot 805 and the limiting hole 804 are limited by a limiting pin.

[0062] Both ends of the extension board 802 are provided with a plurality of abutting grooves 807. At corresponding positions of the fixed sleeve 1, ball plunger holes 806 are provided. The ball plunger 808 passes through the ball plunger hole 806 and abuts against the abutting groove 807 to fix the position of the extension board 802.

[0063] When using this placement device, the following operations are performed:

[0064] The second internal thread 301 of the fixing knob 3 cooperates with the first external thread 101 of the fixed sleeve 1. Loosen the fixing knob 3, insert the depth adjustment screw 2 into the fixed sleeve 1, and then tighten the fixing knob 3.

[0065] When adjusting the depth screw 2, rotate the knob 201 end of the depth adjustment screw 2 and observe the depth scale corresponding to the pointer 401. After reaching the specified depth, rotate the fixing knob 3 until it is tightened to complete the depth adjustment;

[0066] Insert the positioning boss 5 of the fixed sleeve 1 into the corresponding position by aligning it with the guiding groove 701 of the end effector of the navigation robotic arm 7, and insert the cutting edge of the drill bit 6 into the through hole of the depth adjustment screw 2 to complete the assembly before use;

[0067] Use the drill bit 6 to drill a hole on the bone surface. After drilling, withdraw the drill bit 6;

[0068] If it is necessary to adjust different depths and insert screws of different specifications, only the above steps need to be repeated.

[0069] When it is necessary to replace the drill bit 6 with a different diameter, only need to align the corresponding through hole 803 of the extension board 802 with the central axis of the device.

[0070] Its advantages are: This device mainly plays a role in guiding and distance control, with higher screw placement accuracy and insertion accuracy; it can re-plan the screws and timely correct the screw insertion plan; it eliminates human errors and improves the surgical efficiency; it can reduce the occurrence of postoperative complications.

[0071] In specific implementation, the present application provides a computer storage medium and a corresponding data processing unit. Among them, the computer storage medium can store a computer program. When the computer program is executed by the data processing unit, it can run the invention content of a solid screw placement device used in conjunction with an orthopedic surgical robot and some or all of the steps in each embodiment provided by the present invention. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0072] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present invention can be implemented by means of a computer program and its corresponding general hardware platform. Based on such an understanding, the technical solutions in the embodiments of the present invention, in essence, or the parts that contribute to the prior art can be embodied in the form of a computer program, that is, a software product. This computer program software product can be stored in a storage medium and includes several instructions to enable a device including a data processing unit (which can be a personal computer, a server, a single-chip microcomputer, an MCU, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of the present invention.

[0073] The present invention provides an idea and method for a solid screw implantation device used in conjunction with an orthopedic surgical robot. There are many ways and means to specifically implement this technical solution. The above description is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented by the prior art.

Claims

1. A solid screw insertion device for use with an orthopaedic surgical robot, characterized in that, Comprising: A fixing sleeve (1) installed on the robotic arm end effector (7) of the orthopedic surgical robot; the fixing sleeve (1) is a hollow cylindrical structure, and a depth adjustment screw (2) is installed inside one end thereof through a fixing knob (3); the fixing knob (3) is sleeved on one end of the fixing sleeve (1); the depth adjustment screw (2) is threadedly connected to the fixing sleeve (1); the inside of the depth adjustment screw (2) is a hollow pipe, and a drill bit (6) is inserted therein.

2. The solid screw implantation device for supporting an orthopedic surgical robot according to claim 1, wherein, A depth indicating device (4) is provided on the fixing sleeve (1) for displaying the depth of penetration of the depth adjustment screw (2) into the fixing sleeve (1).

3. A solid screw implantation device used in conjunction with an orthopedic surgical robot according to claim 1, characterized in that, A guiding convex block (5) is provided in the middle of the fixing sleeve (1), and a guiding groove (701) is provided on the robotic arm end effector (7). The fixing sleeve (1) is installed on the robotic arm end effector (7) by fitting the guiding convex block (5) into the guiding groove (701).

4. A solid screw implantation device used in conjunction with an orthopedic surgical robot, characterized in that, A locking structure is provided at one end of the fixing sleeve (1), and the fixing knob (3) locks the depth adjustment screw (2) through the locking structure.

5. The solid screw implantation device used in conjunction with an orthopedic surgical robot according to claim 4, wherein, The locking structure includes: A first external thread (101) provided on the outer side of one end of the fixing sleeve (1), which meshes with the internal thread of the fixing knob (3). There are more than 2 locking pieces (102) at the end. The inner wall of the locking piece (102) is provided with a first internal thread (104). There is a gap between adjacent locking pieces (102), and a locking piece inclined surface (103) is provided at the end of the locking piece (102).

6. The solid screw insertion device used in conjunction with an orthopedic surgical robot according to claim 1, wherein The fixing knob (3) is a hollow cylindrical structure. A second internal thread (301) that meshes with the thread at one end of the fixing sleeve (1) is provided at one end of its inner side, and a pressing block (302) is provided at the other end.

7. A solid screw insertion device for use with an orthopedic surgical robot according to claim 1, wherein, One end of the depth adjustment screw (2) is fixedly provided with a knob (201), and a second external thread (202) is provided on the outer side of the middle part. The second external thread (202) meshes with the internal thread of the fixing sleeve (1).

8. The solid screw implantation device for supporting an orthopedic surgical robot according to claim 2, characterized in that, The depth indicating device (4) includes: A scale window (402) provided on the side wall of the fixing sleeve (1) at the position where the bottom end of the depth adjustment screw (2) moves, for observing the position of the bottom end of the depth adjustment screw (2); The depth indicating device (4) further includes: A pointer (401) rotatably arranged at the bottom end of the depth adjustment screw (2), and the pointer (401) slides in the scale window (402); The depth indicating device (4) further includes: A pointer ring (203) rotatably arranged at the bottom end of the depth adjustment screw (2), and the pointer (401) is fixedly provided on the pointer ring (203).

9. A solid screw implantation device for use with an orthopedic surgical robot according to claim 1, characterized in that, An adapter device (8) is provided on the fixing sleeve (1) for adapting and fixing drill bits (6) of different diameters.

10. The solid screw implantation device for supporting an orthopedic surgical robot according to claim 9, characterized in that, The adapter device (8) includes: An expansion slot (801) opened on the fixing sleeve (1) and an expansion plate (802) for installing drill bits (6) of different diameters. The expansion plate (802) is inserted into the expansion slot (801); The extension board (802) is provided with more than two adaptation through holes (803) for the drill bit (6) to pass through, and the inner diameter of the adaptation through hole (803) is set according to the outer diameter of the drill bit (6); In the middle of the extension board (802), a limiting groove (805) is opened in a direction perpendicular to the axial direction of the fixed sleeve (1), and a limiting hole (804) is opened at the corresponding position on the fixed sleeve (1). The position is limited by inserting a limiting pin into the limiting groove (805) and the limiting hole (804); A plurality of abutting grooves (807) are provided at both ends of the extension board (802), and a ball plunger hole (806) is opened at the corresponding position of the fixed sleeve (1). The ball plunger (808) passes through the ball plunger hole (806) and abuts on the abutting groove (807) to fix the position of the extension board (802).

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