Pedicle screw and pedicle screw mounting system

Abstract

The embodiment of the invention discloses a pedicle screw and a pedicle screw mounting system. According to one specific implementation mode of the method, a nail body, a connector and an adjusting assembly are included, the connector comprises a U-shaped body, a screw plug and a pressing block, the U-shaped body comprises a U-shaped body opening, and the U-shaped body opening is used for containing a pre-bent connecting rod; the adjusting assembly comprises a connecting seat and a universal head, the universal head covers the tail end of the nail body, the universal head can vertically move along the nail body, the connecting seat is arranged on the universal head in a sleeving mode, the contact face between the universal head and the connecting seat is a spherical face, the connecting seat can rotate along the spherical face, the outer portion of the connecting seat is of a sliding block structure, and the sliding block structure and the connector embedded sliding groove structure are combined into an embedded assembly. And the connector can horizontally move along the connecting seat. According to the implementation mode, the position deviation between the pedicle screw and the pre-bent connecting rod can be reduced, the stress between different spines is reduced, then iatrogenic pain is reduced, and the effect of a pedicle screw spine internal fixation operation is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of medical devices, and particularly to pedicle screws and a system for installing pedicle screws. BACKGROUND

[0002] Pedicle screws are fixed on vertebral bodies by spinal fusion to achieve the fixation of the hip segment of the spine. At present, when fixing the spine, the commonly used method is to use an integrated pedicle screw and a pre-bent connecting rod to fix the spine of the patient.

[0003] However, in practice, it is found that when the spine is fixed in the above manner, the following technical problems often exist:

[0004] The integrated pedicle screw is implanted into the center of the pedicle of the vertebral body of the spine. The anatomical characteristics of the vertebral body itself and the error of the surgical implantation point, the pre-bent connecting rod needs to be pre-bent to pass through each pedicle screw, and the pre-bent connecting rod has a deviation in pre-bending, causing the relative position between the needle insertion point and the pre-bent connecting rod to shift, and a strong fixation is required to form a rigid connection between the connecting rod and the pedicle screw. A whole, part of the vertebral body will shift, resulting in different stresses between the vertebral bodies, which can easily cause the patient to have iatrogenic pain or limb numbness, resulting in poor surgical results of the pedicle screw internal fixation of the spine.

[0005] The above information disclosed in this BACKGROUND section is only for the purpose of enhancing the understanding of the background of the present disclosure and therefore, it can contain information that does not form the prior art that is already known in this country to those ordinary skilled in the art. SUMMARY

[0006] The summary of the present disclosure is intended to introduce the concepts in a simplified form, which will be described in detail in the specific embodiments section. The summary of the present disclosure is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0007] Some embodiments of the present disclosure propose a pedicle screw and a system for installing pedicle screws to solve one or more of the technical problems mentioned in the background section.

[0008] In a first aspect, some embodiments of the present disclosure provide a pedicle screw and a mounting system of the pedicle screw, characterized in that the pedicle screw comprises a screw body, a connector and an adjusting assembly, wherein the connector comprises a U-shaped body, a screw plug and a pressing block, the U-shaped body comprises a U-shaped body opening, the U-shaped body opening is used for placing a pre-bent connecting rod, and the screw plug is used for tightening the pre-bent connecting rod into the U-shaped body opening; the adjusting assembly comprises a connecting seat and a universal head, the universal head is arranged at the tail end of the screw body, the universal head can move vertically along the screw body, the connecting seat is sleeved on the universal head, the contact surface between the universal head and the connecting seat is a spherical surface, the connecting seat can rotate along the spherical surface, the outer part of the connecting seat is a sliding block structure, the sliding block structure and a sliding groove structure embedded in the connector are combined into an embedded assembly, the connector can move horizontally along the connecting seat, in the use state, the connector can move vertically, horizontally and rotate omnidirectionally along the screw body; in the use process, the direction of the U-shaped body opening is adjusted by rotating the connector, so that the pre-bent connecting rod can be placed in the U-shaped body opening, and when the pre-bent connecting rod is tightened in the U-shaped body opening by using the screw plug, the adjusting assembly and the connector can be adaptively adjusted to adapt to the positional deviation between the pedicle screw and the pre-bent connecting rod.

[0009] Optionally, the material of the screw body is cobalt-chromium-molybdenum alloy, medical stainless steel or titanium alloy.

[0010] Optionally, the diameter of the screw body is in the range of 3.0mm-8.5mm, and the length of the screw body is in the range of 20mm-90mm.

[0011] Optionally, the tail end of the screw body is provided with a connecting groove, and the connecting groove is arranged on the side wall of the screw body and extends in the vertical direction of the screw body.

[0012] Optionally, the inner wall of the universal head is provided with a connecting pin shaft, and the connecting pin shaft is embedded in the connecting groove, in the use state, the universal head can vertically slide along the screw body, and the connecting pin shaft correspondingly slides in the connecting groove.

[0013] Optionally, the universal joint is located at the first position of the nail body, the second position of the nail body, or any position between the first position and the second position of the nail body. In the use state, when the universal joint is located at the first position of the nail body, the connecting pin shaft abuts against the side wall close to the head end of the nail body in the connecting groove. When the universal joint is located at the second position of the nail body, the connecting pin shaft abuts against the side wall close to the tail end of the nail body in the connecting groove. When the universal joint is located at any position between the first position and the second position of the nail body and the connector abuts against the pre-bending connecting rod, the pressing block fixes the universal joint at any position between the first position and the second position of the nail body.

[0014] Optionally, the nail body comprises a screw installation wrench cooperation hole.

[0015] In a second aspect, some embodiments of the present disclosure provide a pedicle screw installation system, the pedicle screw installation system comprising a master control chip, a mechanical arm, and the pedicle screw and the pre-bending connecting rod described in the first aspect. The master control chip is configured to control the mechanical arm to perform an implanting process on a preset number of pedicle screws. The master control chip is configured to generate curvature deviation information between the implanted preset number of pedicle screws and the pre-bending connecting rod after bending processing according to photographed bending image information and connection line image information. The mechanical arm is provided with a camera, and the bending image information and the connection line image information are photographed by the camera. The bending image information represents an image of the photographed pre-bending connecting rod in a bent state, and the connection line image information represents an image of each U-shaped body included in each implanted pedicle screw. The master control chip is configured to control the mechanical arm to perform an installation process on the implanted preset number of pedicle screws and the pre-bending connecting rod after bending processing in response to determining that the pre-bending connecting rod after bending processing meets a preset qualified condition.

[0016] In a third aspect, some embodiments of the present disclosure provide an electronic device, including one or more processors; and a storage device having one or more programs stored thereon, when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

[0017] The above various embodiments of the present disclosure have the following beneficial effects: the pedicle screw of some embodiments of the present disclosure can reduce the stress between different vertebral bodies, reduce the occurrence of iatrogenic pain after the use of spinal pedicle screw fixation surgery, and improve the effect of spinal fixation. Specifically, the reason for the iatrogenic pain after the spinal pedicle screw fixation surgery is that the one-piece pedicle screw is implanted into the center of the pedicle of the vertebral body, the anatomical characteristics of the vertebral body itself and the error of the implantation point, the pre-bent connecting rod needs to be pre-bent to pass through each pedicle screw, the pre-bending of the pre-bent connecting rod will deviate, causing the relative position between the needle point and the pre-bent connecting rod to deviate, and the forced fixation needs to be performed to form a rigid connection between the connecting rod and the pedicle screw. Part of the vertebral body will deviate, resulting in stress between different vertebral bodies, which is easy to cause iatrogenic pain or limb numbness in patients, and causes poor effect of spinal pedicle screw internal fixation surgery. Based on this, the pedicle screw of the present disclosure, the above pedicle screw comprises a screw body, a connector and an adjusting assembly, wherein the connector comprises a U-shaped body, a screw plug and a pressing block, the U-shaped body comprises a U-shaped body opening, the U-shaped body opening is used for placing a pre-bent connecting rod, and the screw plug is used for tightening the pre-bent connecting rod into the U-shaped body opening; the adjusting assembly comprises a connecting seat and a universal head, the universal head is arranged at the tail end of the screw body, the universal head can move vertically along the screw body, the connecting seat is sleeved on the universal head, the contact surface between the universal head and the connecting seat is a spherical surface, the connecting seat can rotate along the spherical surface, the outer part of the connecting seat is a sliding block structure, the sliding block structure and the sliding groove structure embedded in the connector are combined into an embedded assembly, and the connector can move horizontally along the connecting seat. In the use state, the connector can move vertically, horizontally and rotate in all directions along the screw body; during use, the direction of the U-shaped body opening is adjusted by rotating the connector so that the pre-bent connecting rod can be placed in the U-shaped body opening, and when the pre-bent connecting rod is tightened in the U-shaped body opening by using the screw plug, the adjusting assembly and the connector can be adaptively adjusted to adapt to the positional deviation between the pedicle screw and the pre-bent connecting rod. Because the above pedicle screw is not one-piece, the above structure can be interconnected, and in the use state, the connector can move vertically, horizontally and rotate in all directions along the screw body, so that the opening of the U-shaped body can be adjusted to allow the pre-bent connecting rod to be placed in the U-shaped body opening, and when the pre-bent connecting rod is tightened in the U-shaped body opening by using the screw plug, the adjusting assembly will be adaptively adjusted (moved in the vertical direction) to compensate for the positional deviation between the pedicle screw and the pre-bent connecting rod.Thus, the rigid connection body between the pre-bent connecting rod and the pedicle screw formed after fixation can keep the pedicle screw and the vertebral body in place, reduce new stress between the vertebral bodies of the spine to cause iatrogenic pain, and thus improve the effect of the pedicle screw fixation operation of the spine. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other features, aspects, and advantages of various embodiments of the present disclosure will become more apparent with reference to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or like reference numerals can refer to the same or like elements. It should be understood that the drawings are schematic and elements and features are not necessarily to scale.

[0019] Figure 1 is a partial sectional view of a pedicle screw according to the present disclosure;

[0020] Figure 2 is a schematic view of a shank structure of a pedicle screw according to the present disclosure;

[0021] Figure 3 is a schematic view of a ball joint according to the present disclosure;

[0022] Figure 4 is a sectional view of a compression block according to the present disclosure;

[0023] Figure 5 is a schematic view of a connection seat according to the present disclosure;

[0024] Figure 6 is a sectional view of a connection seat according to the present disclosure;

[0025] Figure 7 is a schematic view of a connector according to the present disclosure;

[0026] Figure 8 is a flowchart of some embodiments of a mounting system of a pedicle screw according to the present disclosure;

[0027] Figure 9 is a schematic view of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] Embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While several embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art. It should be understood that the drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure.

[0029] In addition, it needs to be noted that only parts related to the present application are shown in the drawings for the convenience of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0030] It should be noted that the terms "first", "second" and the like mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0031] It should be noted that the modification of "one" or "multiple" mentioned in the present disclosure is illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0032] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0033] The present disclosure will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0034] As shown in the Figure 1 pedicle screw can include a shank 1, an adjusting assembly 2 and a connector 3. The shank 1 can have a position prompting assembly 11 and a screw installation wrench fitting hole 14, the position prompting assembly 11 can include an elastic assembly 111 and a steel ball 112, the adjusting assembly 2 can include a universal joint head 21 and a connecting seat 22, the connector 3 can include a pressing block 31, a U-shaped body 32 and a screw plug 33, the connecting seat 22 can have a sliding block structure 2211, the U-shaped body 32 can have a sliding groove structure 2212, and the sliding block structure 2211 and the sliding groove structure 2212 form an embedding assembly 221 after assembly.

[0035] As shown in the Figure 2 shank 1 of the pedicle screw can further include a universal joint head fitting cylinder 12 and a bone thread structure 13, and the universal joint head fitting cylinder 12 can have a connecting groove 120.

[0036] As shown in the Figure 3 universal joint head 21 of the pedicle screw can include an elastic locking opening 211, and the elastic locking opening 211 can include a circular segment 2111 and an arc segment 2112.

[0037] As shown in the Figure 4 pedicle screw can include a pressing block 31.

[0038] As shown in the Figures 5-6 pedicle screw can include a connecting seat 22, and the connecting seat 22 has a sliding block structure 2211.

[0039] As Figure 7 The pedicle screw connector 3 as shown can include a pressure block 31, a U-shaped body 32 and a screw plug 33. The U-shaped body 32 can have a U-shaped body opening 320.

[0040] In some embodiments, the pedicle screw can include a screw body 1, a connector 3 and an adjustment assembly 2. The screw body 1 can be used to fix and stabilize the spine. The outer wall of the screw body 1 can be provided with a bone thread structure 13, which can be used to implant the vertebral body of the spine. The tail end of the screw body 1 is exposed outside the spine. Here, the specific size of the screw body 1 is not limited. For example, the diameter of the screw body 1 can be in the range of 3.0mm to 8.5mm, and the length of the screw body 1 can be in the range of 20mm to 90mm. The adjustment assembly 2 can be used to adjust the angle and position of the connector 3 on the pedicle screw. The pre-bent connecting rod can be fixed to the connector 3.

[0041] In some embodiments, the connector 3 can include a U-shaped body 32, a screw plug 33 and a pressure block 31. The U-shaped body 32 can include a U-shaped body opening 320. The U-shaped body opening 320 can be used to place the pre-bent connecting rod. The screw plug 33 can be used to tighten the pre-bent connecting rod into the U-shaped body opening. In this way, the pre-bent connecting rod can be prevented from falling off the U-shaped body 32. The pressure block 31 can move vertically. The material of the pressure block 31 can be cobalt-chromium-molybdenum alloy, medical stainless steel or titanium alloy. Here, the size of the pressure block 31 is not limited and can be adjusted according to actual needs. The pressure block 31 can be provided at the top of the universal joint 21.

[0042] In some embodiments, the adjusting assembly 2 can include a connecting seat 22 and a universal head 21. The universal head 21 can be arranged on the tail end of the nail body 1. The universal head 21 can move vertically along the nail body 1. The connecting seat 22 can be arranged on the universal head 21. The contact surface between the universal head 21 and the connecting seat 22 is a spherical surface, and the connecting seat 22 can rotate along the spherical surface. The outer part of the connecting seat 22 is a sliding block structure 2211, and the sliding block structure 2211 and the sliding groove structure 2212 embedded in the connector 3 form an embedded assembly 221. The connector 3 can move horizontally along the connecting seat 22, and in the use state, the connector 3 can move vertically, horizontally, and rotate universally along the nail body 1. During use, the connector 3 is rotated to adjust the direction of the U-shaped body opening, so that the pre-bent connecting rod can be placed in the U-shaped body opening. When the pre-bent connecting rod is tightened in the U-shaped body opening by using the screw plug 33, the adjusting assembly 2 and the connector 3 can be adaptively adjusted to adapt to the positional deviation between the pedicle screw and the pre-bent connecting rod. It should be noted that when the connector 3 is rotated to adjust the U-shaped body opening, the pedicle screw has been implanted into the pedicle. It should be noted that the reason why the connector 3 can move horizontally is that after the nail body 1 is implanted into the vertebral body, the nail body 1 is fixed, and thus the horizontal position of the universal head 21 is fixed. Since the connecting seat 22 and the universal head 21 are spherical, they have a common spherical center, so the horizontal position of the connecting seat 22 is fixed. When the pre-bent connecting rod has a horizontal pre-bent deviation, the pre-bent connecting rod will press the side wall of the U-shaped body opening, and thus the connector 3 can move horizontally relative to the connecting seat 22.

[0043] It should be noted that the connecting seat 22 and the pressure block 31 and the U-shaped body 32 can be connected in a split manner. The connecting manner between the pressure block 31 and the U-shaped body 32 can be detachable connection. The shape of one side of the pressure block 31 facing the universal joint 21 can be adapted to the universal joint 21. First, the pressure block 31 can be used to transmit the pressure from the pre-bent connecting rod to compress the universal joint 21 downward, the universal joint 21 can be extruded downward by the connecting seat 22, the universal joint 21 can be locked by the combined force of the connecting seat 22 and the pressure block 31, and the universal rotation angle of the connecting seat 22 around the universal joint 21 is locked and fixed. Then, after the connecting seat 22 is extruded downward by the universal joint 21, the embedding assembly 221 formed by the connecting seat 22 and the U-shaped body 32, the sliding groove and the sliding block are extruded, and the relative position of the connector 3 moving horizontally along the connecting seat 22 is locked and fixed. Finally, after the universal joint 21 is extruded downward by the pressure block 31, the opening part of the universal joint 21 is extruded and deformed by the spherical inner hole of the connecting seat 22, so that the elastic locking opening 211 of the universal joint 21 is contracted, and thus the vertical moving position of the universal joint 21 along the nail body 1 is locked and fixed. Wherein, the universal joint 21 can be in the shape of a shell and can have an opening. The opening of the universal joint 21 has elasticity. Here, the size of the opening of the universal joint 21 is not limited and can be adjusted according to actual needs. Here, the type of the universal joint 21 is not limited. For example, the type of the universal joint 21 can be a ball cage type universal joint, a cross slide rail type universal joint or a gear type universal joint. Here, the material of the universal joint 21 is not specifically limited. For example, the material of the universal joint 21 can be cobalt-chromium-molybdenum alloy, medical stainless steel or titanium alloy. The universal joint 21 can include at least one elastic locking opening 211. The elastic locking opening 211 can include a circular segment 2111 and an arc segment 2112. The circular segment 2111 and the arc segment 2112 can be connected. The size of the arc segment 2112 can be smaller than the size of the circular segment 2111. Here, the size of the circular segment 2111 and the arc segment 2112 is not limited. The at least one elastic locking opening 211 can be arranged in the circumferential direction of the universal joint 21. Here, the interval distance between each two elastic locking openings 211 in the at least one elastic locking opening 211 is not specifically limited and can be adjusted according to actual needs.

[0044] It should be noted that the adjusting assembly 2 can be used to adjust the angle and relative position of the pedicle screw nail body 1 and the connector 3. That is, the positional relationship between the pedicle screw and the pre-bent connecting rod is adjusted to improve the matching degree between the pedicle screw and the connecting rod with pre-bent deviation.

[0045] Optionally, the material of the nail body 1 can be cobalt-chromium-molybdenum alloy, medical stainless steel or titanium alloy.

[0046] Optionally, the diameter of the nail body 1 can be in the range of 3.0mm-8.5mm, and the length of the nail body 1 can be in the range of 20mm-90mm.

[0047] Optionally, the tail end of the nail body 1 is provided with a connecting groove 120, which is arranged on the side wall of the nail body 1 and extends along the vertical direction of the nail body 1. The connecting groove 120 can be used for sliding of the connecting pin shaft on the universal joint 21. In this regard, the size of the connecting groove 120 is not limited. It should be noted that the width of the connecting groove 120 is about 0.1-0.5mm larger than the width of the connecting pin shaft on the universal joint 21. When the universal joint 21 moves away from the head end of the nail body 1, the connecting groove 120 can be used to prevent the universal joint 21 from sliding out of the nail body 1.

[0048] Optionally, the inner wall of the universal joint 21 is provided with a connecting pin shaft, which is embedded in the connecting groove 120. In use, the universal joint 21 can slide vertically along the nail body 1, and the connecting pin shaft slides in the connecting groove 120 accordingly. The connecting pin shaft and the universal joint 21 can be integrally formed or separately assembled. The connecting pin shaft can be used to limit the movement distance of the nail body 1 to avoid the universal joint 21 sliding out of the nail body 1. The size of the connecting pin shaft and the connecting groove 120 can be matched. In this regard, the specific size of the connecting pin shaft and the connecting groove 120 is not limited and can be adjusted according to actual needs. In use, when the pre-bent connecting rod is screwed into the opening of the U-shaped body, the connecting pin shaft included in the universal joint 21 can slide in the connecting groove 120 to enable the universal joint 21 to move vertically, thereby compensating for the height deviation between the pre-bent connecting rod and the pedicle screw. It should be noted that when the connecting pin shaft is assembled into the connecting groove 120, an impact force is applied to the connecting pin shaft to enable the connecting pin shaft to be inserted into the connecting groove 120.

[0049] Optionally, the universal joint 21 can be located at the first position of the nail body 1, the second position of the nail body 1, or any position between the first position and the second position of the nail body 1. In the use state, when the universal joint 21 is located at the first position of the nail body 1, the connecting pin shaft abuts against the side wall near the head end of the nail body 1, when the universal joint 21 is located at the second position of the nail body 1, the connecting pin shaft abuts against the side wall near the tail end of the nail body 1, and when the connector 3 abuts against the pre-bent connecting rod, the pressing block 31 limits the universal joint 21 to any position between the first position and the second position. Wherein, the first position can represent the head end of the nail body 1, and the second position can represent the tail end of the nail body 1. It should be noted that when the universal joint 21 is between the first position and the second position, the connecting pin shaft can move along the extension direction of the connecting groove 120, and during the movement of the connecting pin shaft in the direction away from the head end of the nail body 1, due to the force applied by the pre-bent connecting rod to the connector 3, the connector 3 transmits the force to the pressing block 31, and the pressing block 31 can apply a force to the universal joint 21 towards the head end of the nail body 1 to limit the universal joint 21 from continuing to move away from the head end of the nail body 1, so that the universal joint 21 can hover at any position between the first position and the second position.

[0050] Optionally, the nail body 1 can include a screw installation wrench fitting hole 14. Wherein, the screw installation wrench fitting hole 14 can be a triangular, quadrangular, hexagonal, octagonal, or torx installation hole. In the use state, the wrench can be inserted into the screw to rotate the nail body 1, so as to rotate the nail body 1 to the spinal vertebra.

[0051] Optionally, the pre-bent connecting rod can be a metal rod. Here, the specific material and size of the pre-bent connecting rod are not limited, and can be adjusted according to actual needs. For example, the length of the pre-bent connecting rod can be in the range of 35mm-600mm, and the diameter of the pre-bent connecting rod can be in the range of 4.5mm-6.0mm. The pre-bending of the pre-bent connecting rod can be pre-bent according to the curvature of the scoliosis.

[0052] Optionally, the inner part of the nail body 1 is provided with a mounting hole extending in parallel direction. The mounting hole can be provided with a position prompting assembly 11. The position prompting assembly 11 can include an elastic assembly 111 and a steel ball 112. The elastic assembly 111 can be fixed to the inner part of the nail body 1. At least one end of the elastic assembly 111 can be connected with the steel ball 112. The steel ball 112 can be hidden in the inner part of the nail body 1 or exposed to the outer wall of the nail body 1. The elastic assembly 111 can be a spring. In use, the position prompting assembly 11 can be used to prompt that the position of the universal joint 21 has reached the set intermediate position. It should be noted that when the universal joint 21 is in the first state (the connecting pin shaft included in the universal joint 21 is at the intermediate position of the connecting groove 120), the steel ball 112 is respectively clamped in the corresponding annular groove. The annular groove can be located at the circumferential position of the inner lower end of the universal joint shell. Thus, the position prompting assembly 11 can lightly lock and prompt the opposite two ends of the universal joint 21. And when the universal joint 21 is in the first state, the universal joint 21 can form an avoidance to the steel ball 112, ensuring that the steel ball 112 can be popped out to the outer wall of the nail body 1 under the traction of the elastic assembly 111. It should be noted that when the universal joint 21 is in the first state, if the universal joint 21 is pressed upward or downward, the universal joint 21 can still move upward or downward, only to prompt the user that the universal joint 21 is in the first state. When the universal joint 21 is in the second state (the connecting pin shaft included in the universal joint 21 is not at the intermediate position of the connecting groove 120), the elastic assembly 111 is in a compressed state, and the two steel balls 112 are hidden in the inner part of the nail body 1, so that the universal joint 21 can move along the vertical direction of the nail body 1. When the universal joint 21 is switched from the first state to the second state, the universal joint 21 can be pressed downward or pulled upward.

[0053] The technical scheme solves the following technical problems: when the universal joint is pressed upward or downward, the pressing depth or degree of the universal joint cannot be known, resulting in poor pre-adjustment effect of the universal joint and low position accuracy of the pre-adjusted universal joint. The factors often include that the pressing depth or degree of the universal joint cannot be known. If the factors are solved, the pre-adjustment effect of the universal joint can be improved, and the position accuracy of the pre-adjusted universal joint can be improved. In order to achieve this effect, the position prompting assembly included in the pedicle screw of the present disclosure can prompt the pressing depth of the universal joint to the user, so as to improve the pre-adjustment effect of the universal joint and improve the position accuracy of the pre-adjusted universal joint.

[0054] The above various embodiments of the present disclosure have the following beneficial effects: the pedicle screw of some embodiments of the present disclosure can reduce the stress between different vertebral bodies, reduce the occurrence of iatrogenic pain after the use of spinal pedicle screw fixation surgery, and improve the effect of spinal fixation. Specifically, the reason for the iatrogenic pain after the spinal pedicle screw fixation surgery is that the one-piece pedicle screw is implanted into the center of the pedicle of the vertebral body, the anatomical characteristics of the vertebral body itself and the error of the implantation point, the pre-bent connecting rod needs to be pre-bent to pass through each pedicle screw, the pre-bending of the pre-bent connecting rod will deviate, causing the relative position between the needle point and the pre-bent connecting rod to deviate, and the forced fixation needs to be performed to form a rigid connection between the connecting rod and the pedicle screw. Part of the vertebral body will deviate, resulting in stress between different vertebral bodies, which is easy to cause iatrogenic pain or limb numbness in patients, and causes poor effect of spinal pedicle screw internal fixation surgery. Based on this, the pedicle screw of the present disclosure, the above pedicle screw comprises a screw body, a connector and an adjusting assembly, wherein the connector comprises a U-shaped body, a screw plug and a pressing block, the U-shaped body comprises a U-shaped body opening, the U-shaped body opening is used for placing a pre-bent connecting rod, and the screw plug is used for tightening the pre-bent connecting rod into the U-shaped body opening; the adjusting assembly comprises a connecting seat and a universal head, the universal head is arranged at the tail end of the screw body, the universal head can move vertically along the screw body, the connecting seat is sleeved on the universal head, the contact surface between the universal head and the connecting seat is a spherical surface, the connecting seat can rotate along the spherical surface, the outer part of the connecting seat is a sliding block structure, the sliding block structure and the sliding groove structure embedded in the connector are combined into an embedded assembly, and the connector can move horizontally along the connecting seat. In the use state, the connector can move vertically, horizontally and rotate in all directions along the screw body; in the use process, the direction of the U-shaped body opening is adjusted by rotating the connector so that the pre-bent connecting rod can be placed in the U-shaped body opening, and when the pre-bent connecting rod is tightened in the U-shaped body opening by using the screw plug, the adjusting assembly and the connector can be adaptively adjusted to adapt to the positional deviation between the pedicle screw and the pre-bent connecting rod. Because the above pedicle screw is not one-piece, the above structure can be interconnected, and in the use state, the connector can move vertically, horizontally and rotate in all directions along the screw body, so that the opening of the U-shaped body can be adjusted to allow the pre-bent connecting rod to be placed in the U-shaped body opening, and when the pre-bent connecting rod is tightened in the U-shaped body opening by using the screw plug, the adjusting assembly will be adaptively adjusted (moved in the vertical direction) to compensate for the positional deviation between the pedicle screw and the pre-bent connecting rod.Therefore, the rigid connection between the pre-bent connecting rod and the pedicle screw formed after fixation can keep the screw and the vertebral body in place, reduce the new stress between the vertebral bodies that causes iatrogenic pain, and thus improve the effect of spinal pedicle screw fixation surgery.

[0055] Further reference Figure 8 , Figure 8 A flow 800 of some embodiments of a pedicle screw installation system according to the present disclosure is shown. The pedicle screw installation system includes the following steps:

[0056] Step 801: The main control chip is configured to control the robotic arm to implant a preset number of pedicle screws.

[0057] In some embodiments, the main control chip is configured to control the robotic arm to implant a predetermined number of pedicle screws. The type of robotic arm is not limited here. For example, the robotic arm can be a six-degree-of-freedom robotic arm. The main control chip can be an ARM series chip. For example, the main control chip can be an STM32F103ZET6 chip. The pedicle screws and pre-bent connecting rods among the predetermined number of pedicle screws can be... Figures 1-7 The pedicle screws and pre-bent connecting rods described herein. Here, the specific value of the aforementioned preset quantity is not limited. For example, the preset quantity can be 5. In practice, the aforementioned main control chip is configured to control the aforementioned robotic arm to implant the preset quantity of pedicle screws through the following steps:

[0058] The first step is to control the vertebral puncture at the aforementioned pedicle screw entry point. The specific dimensions of the vertebral apex are not limited here. The aforementioned pedicle screw entry point can be defined as the location used to insert the pedicle screw. The location of the pedicle screw entry point can be the intersection of the horizontal midline of the transverse process of the spine and the vertical line along the lateral aspect of the articular process.

[0059] The second step involves controlling the pedicle screw reamer to be screwed into the pedicle through the aforementioned pedicle screw entry point, thus creating a pathway. This pathway guides the pedicle screw through the pedicle and into the vertebral body. The pedicle screw reamer includes depth markers. The depth markers on the pedicle screw reamer can be used to determine the length of the screw's penetration into the vertebral body.

[0060] The third step involves removing the aforementioned pedicle foramen constrictor and inserting a probe into the aforementioned pathway to examine the integrity details of the pedicle and the details of the vertebral body lateral wall. The integrity details characterize the overall integrity of the pedicle, while the vertebral body lateral wall details characterize the details of the lateral wall of the pedicle.

[0061] Fourthly, in response to determining that the probe has been completely screwed into the passageway, and the integrity of the probe is qualified according to the integrity information and the sidewall of the vertebral body is qualified according to the sidewall information, the forceps is controlled to clamp the rod of the probe to determine the depth of the pedicle.

[0062] Fifthly, according to the determined depth of the pedicle, the pedicle screw matching the depth is grabbed.

[0063] Sixthly, the tap is connected to the straight ratchet handle.

[0064] Seventhly, the straight ratchet handle is controlled to screw the connected tap into the passageway.

[0065] Eighthly, the straight ratchet handle is controlled to rotate the screwed tap in the clockwise direction. The screwed tap can not exceed the position of the thread.

[0066] Ninthly, the pedicle screw wrench is connected to the straight ratchet handle.

[0067] Tenthly, the pedicle screw is connected to the pedicle screw wrench.

[0068] Eleventhly, the pedicle screw wrench is controlled to screw the pedicle screw into the passageway so that the pedicle screw reaches the set height.

[0069] Twelfthly, the height position of the implanted pedicle screw connector is adjusted so that the universal head of the pedicle screw is in a first state. The first state can be that the connecting pin shaft of the universal head is in the middle position of the connecting groove. It should be noted that the implanted pedicle screw connector can be determined to be in the first state by the prompt sound of the position prompting assembly.

[0070] Step 802, the master chip is configured to generate the curvature deviation information between the implanted preset number of pedicle screws and the pre-bent connecting rod after bending according to the photographed bending image information and the connection image information.

[0071] In some embodiments, the master chip is configured to generate the curvature deviation information between the preset number of implanted pedicle screws and the pre-bent connecting rod after bending according to the bending image information and the connecting line image information. The camera can be arranged on the mechanical arm. The bending image information and the connecting line image information can be captured by the camera. The bending image information can represent an image of the pre-bent connecting rod in a bending state. The connecting line image information can represent an image of each U-shaped body of each implanted pedicle screw. It should be noted that the connecting line image information can be an image of the position of the midpoint of the opening bottom of each U-shaped body of each pedicle screw. Here, the position of the camera arranged on the mechanical arm is not limited, and can be adjusted according to actual needs. The position of the camera can capture the image of the pre-bent connecting rod after bending and the preset number of implanted pedicle screws. For example, the position of the camera can be at the end of the mechanical arm. The camera can be detachably arranged on the mechanical arm. Here, the specific type of the camera is not limited. It should be noted that the pre-bent connecting rod after bending can represent a pre-bent connecting rod after bending. Here, the bending mode of the pre-bent connecting rod after bending is not limited. For example, the pre-bent connecting rod can be bent manually. Each U-shaped body can be each U-shaped body included in the preset number of pedicle screws.

[0072] In some optional implementations of some embodiments, the master chip is configured to generate the curvature deviation information between the preset number of implanted pedicle screws and the pre-bent connecting rod after bending according to the bending image information and the connecting line image information by the following steps:

[0073] In the process of adopting the technical solutions to solve the above-mentioned technical problem one, the following technical problem three is often accompanied: directly using the pre-bent connecting rod for spinal fixation, without pre-detecting the deviation of the curvature of the pre-bent connecting rod, causing a large deviation between the curvature of the pre-bent connecting rod and the connecting line curvature of each pedicle screw, directly compressing the rod and resetting the pre-bent connecting rod, causing internal stress after installing the pre-bent connecting rod, and causing iatrogenic pain in patients. In view of the above technical problem three, the conventional solution is generally: checking the accuracy of the curvature of the pre-bent connecting rod by the naked eye. However, the inventors considered that there are light and shadow parts on the pre-bent connecting rod and each pedicle screw during the operation, and the pre-bent connecting rod and each pedicle screw will appear to be reflective, resulting in the disadvantage that the accuracy of checking the curvature of the pre-bent connecting rod by the naked eye is low. And the inventors' unit has experience in reducing the deviation between the curvature of the pre-bent connecting rod and the connecting line curvature of each pedicle screw, and combined with the situation of the cooperative unit of the entrusted development, we decided to adopt the following solution:

[0074] First, the above bending image information is taken as image information, and the following image enhancement steps are performed:

[0075] First sub-step, input the above image information into the image denoising model to obtain the denoising processed image information as the target image information. Here, the specific type of the above image denoising model is not limited. For example, the image denoising model can be a De-CNN image denoising model.

[0076] Second sub-step, according to the above target image information, generate the light map information corresponding to the above target image information. Wherein, the above light map information can represent the light map of the above target image information. In practice, the above main control chip can use the lighting technology (IBL) to generate the light map corresponding to the above target image information according to the above target image information.

[0077] Third sub-step, the light of the above light map information is reduced to obtain the low light map information corresponding to the above light map information. Wherein, the above low light map information can represent the light map after the light is reduced. In practice, the above main control chip can use the 3D rendering engine to reduce the light of the above light map information.

[0078] Fourth sub-step, according to the above low light map information, generate the reflection map information corresponding to the above low light map information. Wherein, the above reflection map information can represent the reflection map of the above low light map information. In practice, the above main control chip can generate the reflection map corresponding to the above low light map information according to the above low light map information through the above lighting technology (IBL).

[0079] In a fifth sub-step, the reflection map information and the illumination map information are subjected to image correction processing to obtain reflection map information and illumination map information subjected to image correction processing. In practice, the main control chip can subject the reflection map information and the illumination map information to image correction processing by an adaptive gamma correction method to obtain reflection map information and illumination map information subjected to image correction processing.

[0080] In a sixth sub-step, the reflection map information and the illumination map information subjected to image correction processing are subjected to image fusion processing to obtain reflection map information and illumination map information subjected to image fusion processing as target image information subjected to image enhancement. In practice, the main control chip can subject the reflection map information and the illumination map information subjected to image correction processing to image fusion processing by an image fusion method. For example, the image fusion method can be a fusion method based on a U-Net network.

[0081] In a second step, the connection line image information is taken as image information, and the image enhancement step is executed again.

[0082] In a third step, curvature deviation information corresponding to the pre-bent connecting rod and each pedicle is generated according to the curved image information subjected to image enhancement processing and the connection line image information. The curvature deviation information can represent a deviation value in a height direction and a deviation value in a left-right direction between a curve of the pre-bent connecting rod and a curve connecting the midpoints of the bottom portions of each U-shaped body opening. In practice, first, the main control chip can input the curved image information and the connection line image information to a curvature deviation information generation model to obtain curve information corresponding to the curved image information and curvature deviation information corresponding to the connection line image information. The curve information of the curved image information can represent a curve of the pre-bent connecting rod included in the curved image information. The curve information of the connection line image information can represent a curve connecting the midpoints of the bottom portions of each U-shaped body opening included in the connection line image information. The curvature deviation information generation model can be a model taking the curved image information subjected to image enhancement processing and the connection line image information as input and taking curvature deviation information corresponding to the curve of the curved image information and the curve of the connection line image information as output. The curvature deviation information generation model can be trained by a method of batch training. For example, the curvature deviation information generation model can be a twin neural network model.

[0083] In the fourth step, the pre-bent connecting rod is bent in response to the determination that the curvature deviation information does not satisfy the preset deviation condition. The preset deviation condition can be that the deviation value in the height direction represented by the curvature deviation information is between the first deviation range and the deviation value in the left-right direction is between the second deviation range. The first deviation range can represent the deviation value range in the height direction represented by the curvature deviation information. In this regard, the specific values of the first deviation range and the second deviation range are not limited. For example, the first deviation range can be -1.5mm-1.5mm, and the second deviation range can be -1mm-1mm. It should be noted that when the curvature deviation information does not satisfy the preset deviation condition, the pre-bent connecting rod is bent, and then the bent pre-bent connecting rod needs to be detected again to determine whether it satisfies the preset deviation condition. The step of detecting the bent pre-bent connecting rod again is the same as the step of detecting the pre-bent connecting rod, and thus will not be described again. In practice, the main control chip can control the mechanical arm to bend the pre-bent connecting rod.

[0084] In the fifth step, the bent pre-bent connecting rod is determined to satisfy the preset qualified condition in response to the determination that the curvature deviation information satisfies the preset deviation condition. The preset qualified condition can be that the obtained curvature deviation information satisfies the preset deviation condition.

[0085] The above-described technical solution, as an inventive point of this disclosure, solves technical problem three: the factors that cause a large deviation between the curvature of the pre-bent connecting rod and the curvature of the connecting line of each pedicle screw, and the internal stress after the installation of the pre-bent connecting rod, leading to iatrogenic pain in patients, are often as follows: directly using the pre-bent connecting rod for spinal fixation without prior detection of the curvature deviation of the pre-bent connecting rod. Solving these factors can reduce the occurrence of iatrogenic pain in patients. To achieve this effect, this disclosure first enhances the captured images, thereby reducing the low image clarity caused by shadows on the pre-bent connecting rod and each pedicle screw during surgery, and reducing the low image clarity caused by reflections on the pre-bent connecting rod and each pedicle screw during surgery, thus further improving the clarity of the captured images. Furthermore, image detection methods can be used to determine whether the curves of each pedicle screw and the pre-bent connecting rod meet the aforementioned preset deviation conditions. If the curves of the pedicle screws and the pre-bent connecting rod do not meet the preset deviation conditions, the pre-bent connecting rod is re-bent to ensure it meets the conditions. The method uses image detection to detect the deviation between the curvature of the pre-bent connecting rod and the curvature of each pedicle screw, rather than directly visually inspecting the curvature, thus improving the accuracy of the inspection. This allows for the use of pre-bent connecting rods with a high degree of matching curvature to the connections of the pedicle screws, reducing iatrogenic pain in patients.

[0086] In step 803, the main control chip is configured to control the robotic arm to install the preset number of pedicle screws and the pre-bent connecting rod after bending treatment in response to determining that the pre-bent connecting rod after bending treatment meets the preset qualification conditions.

[0087] In some embodiments, the main control chip is configured to control the robotic arm to install a predetermined number of implanted pedicle screws and the pre-bent connecting rod in response to determining that the pre-bent connecting rod after bending meets the predetermined qualification conditions. In practice, in response to determining that the pre-bent connecting rod after bending meets the predetermined qualification conditions, the main control chip is configured to control the robotic arm to perform the following steps to install the predetermined number of implanted pedicle screws and the pre-bent connecting rod:

[0088] The first step is to ensure that the U-shaped opening of the pedicle screw connector is aligned with the direction of the connecting rod.

[0089] Secondly, the holding tool is controlled to place the pre-bent connecting rod into the preset number of U-shaped body openings of the preset number of pedicle screws. In practice, firstly, the mechanical arm can be controlled to adjust the opening direction of the preset number of U-shaped body openings, so that the pre-bent connecting rod can be placed into the preset number of U-shaped body openings. It should be noted that the connecting seat is rotatable relative to the universal joint because the universal joint and the connecting seat are spherical. Therefore, the U-shaped body openings of the connector can be adjusted in direction.

[0090] Thirdly, the screw holder is controlled to hold the screw.

[0091] Fourthly, after the screw and the pedicle screw connector are aligned in direction, the screw is screwed into the screw.

[0092] Fifthly, the screw is rotated to make the screw contact the pre-bent connecting rod, so as to fix the connecting rod. It should be noted that when the pre-bent connecting rod is screwed into the U-shaped body openings by using the screw, the connector and the adjusting assembly can be adaptively moved in the horizontal direction or the vertical direction to adapt to the positional deviation between each implanted pedicle screw and the pre-bent connecting rod, so as to reduce the deviation between each implanted pedicle screw and the pre-bent connecting rod.

[0093] The technical solution is an inventive point of an embodiment of the present disclosure, which solves the technical problem that direct use of the pre-bent connecting rod for spinal fixation without pre-detection of the deviation of the curvature of the pre-bent connecting rod causes the need for rod pressing and resetting of the pre-bent connecting rod, which leads to internal stress of the pre-bent connecting rod after installation and causes iatrogenic pain of the patient. If the above factors are solved, the effect of reducing the internal stress of the pre-bent connecting rod after installation and reducing the iatrogenic pain of the patient can be achieved. In order to achieve this effect, the pedicle screw installation system of the present disclosure first uses the main control chip to detect the deviation between the pre-bent connecting rod and each U-shaped body of each implanted pedicle screw, to determine whether the deviation of the pre-bent connecting rod meets the preset qualified condition. Then, when it is detected that the deviation of the pre-bent connecting rod meets the preset qualified condition, the main control chip controls the mechanical arm to install the pre-bent connecting rod and the pedicle screw. Thus, during the installation process, the pre-bent connecting rod can be installed without the need for rod pressing and resetting, thereby reducing the internal stress of the pre-bent connecting rod during installation and reducing the iatrogenic pain of the patient.

[0094] Reference will now be made to Figure 9 , which shows a structural schematic diagram of a computing device 101) 900 suitable for implementing some embodiments of the present disclosure. Figure 1 The computing device 101) 900 can include a processor 902, a memory 904, an input device 906, a display 908, a communication interface 910, and a bus 912. The bus 912 can be a hardware platform that provides communication between the processor 902, the memory 904, the input device 906, the display 908, and the communication interface 910.Figure 9 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this disclosure.

[0095] like Figure 9 As shown, electronic device 900 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 901, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 902 or a program loaded from storage device 909 into random access memory (RAM) 903. RAM 903 also stores various programs and data required for the operation of electronic device 900. Processing device 901, ROM 902, and RAM 903 are interconnected via bus 904. Input / output (I / O) interface 905 is also connected to bus 904.

[0096] Typically, the following devices can be connected to I / O interface 905: input devices 909 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 907 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 909 including, for example, magnetic tapes, hard disks, etc.; and communication devices 909. Communication device 909 allows electronic device 900 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 9 An electronic device 900 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 9 Each box shown can represent a device or multiple devices as needed.

[0097] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 909, or installed from a storage device 909, or installed from a ROM 902. When the computer program is executed by the processing device 901, it performs the functions defined in the methods of some embodiments of this disclosure.

[0098] Note that the computer readable medium in some embodiments of the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus or device, or that can be used by or in connection with an instruction execution system, apparatus or device. In some embodiments of the present disclosure, the computer readable signal medium can include a computer readable program code propagated in or on a carrier medium, in which the computer readable program code is embodied. Such propagated computer readable program code can take many forms, including but not limited to, an electromagnetic signal, an optical signal or any suitable combination of the foregoing. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. Program code embodied on a computer readable medium can be transmitted using any suitable medium, including but not limited to, wire, cable, wireless, RF, infrared or any suitable combination of the foregoing.

[0099] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0100] The computer readable medium can be included in the electronic device or exist separately from the electronic device. The computer readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: input the curved image information as image information, and perform the following image enhancement step: input the image information into an image denoising model to obtain denoised image information as target image information. In this regard, the specific type of the image denoising model is not limited. For example, the image denoising model can be a De-CNN image denoising model. According to the target image information, illumination map information corresponding to the target image information is generated. The illumination map information can represent an illumination map of the target image information. In practice, the main control chip can use the illumination technology (IBL) to generate an illumination map corresponding to the target image information according to the target image information. The illumination map information is subjected to photometric reduction processing to obtain low-illumination map information corresponding to the illumination map information. The low-illumination map information can represent an illumination map after photometric reduction. In practice, the main control chip can use a 3D rendering engine to reduce the photometric value of the illumination map information. According to the low-illumination map information, reflection map information corresponding to the low-illumination map information is generated. The reflection map information can represent a reflection map of the low-illumination map information. In practice, the main control chip can generate a reflection map corresponding to the low-illumination map information according to the low-illumination map information by using the illumination technology (IBL). The reflection map information and the illumination map information are subjected to image correction processing to obtain image-corrected reflection map information and illumination map information. In practice, the main control chip can perform image correction processing on the reflection map information and the illumination map information by using an adaptive gamma correction method to obtain image-corrected reflection map information and illumination map information. The image-corrected reflection map information and illumination map information are subjected to image fusion processing to obtain image-fused reflection map information and illumination map information as image-enhanced target image information. In practice, the main control chip can perform image fusion processing on the image-corrected reflection map information and illumination map information by using an image fusion method. For example, the image fusion method can be a U-Net network-based fusion method. The curved image information is input as image information, and the image enhancement step is performed again. According to the curved image information and the line image information after image enhancement processing, curvature deviation information corresponding to the pre-bent connecting rod and each pedicle is generated. The curvature deviation information can represent the deviation values in the height direction and the deviation values in the left-right direction between the curve of the pre-bent connecting rod and the curve of each U-shaped body placed. In practice, first, the main control chip can input the curved image information and the line image information into a curvature deviation information generation model to obtain curve information corresponding to the curved image information and curvature deviation information corresponding to the line image information.The curve information of the curved image information can represent a curve of the pre-bent connecting rod included in the curved image information. The curve information of the connected line image information can represent a curve of connecting the midpoint of the bottom of each U-shaped body opening included in the connected line image information. The curvature deviation information generation model can be a model taking the curved image information and the connected line image information after image enhancement processing as input, and taking the curvature deviation information of the curve corresponding to the curved image information and the curve corresponding to the connected line image information as output. The curvature deviation information generation model can be trained using a batch training method. For example, the curvature deviation information generation model can be a twin neural network model. In response to determining that the curvature deviation information does not satisfy the preset deviation condition, the pre-bent connecting rod is subjected to bending processing. The preset deviation condition can be that the deviation value in the height direction represented by the curvature deviation information is between a first deviation range and the deviation value in the left-right direction represented by the curvature deviation information is between a second deviation range. The first deviation range can represent the deviation value range in the height direction represented by the curvature deviation information. In this regard, the specific numerical values of the first deviation range and the second deviation range are not limited. For example, the first deviation range can be -1.5mm-1.5mm, and the second deviation range can be -1mm-1mm. It should be noted that when the curvature deviation information does not satisfy the preset deviation condition, after the pre-bent connecting rod is subjected to bending processing, it is necessary to detect again whether the pre-bent connecting rod subjected to bending processing satisfies the preset deviation condition. The step of detecting again whether the pre-bent connecting rod subjected to bending processing satisfies the preset deviation condition is the same as the step of detecting the pre-bent connecting rod subjected to bending processing, and therefore will not be described again. In response to determining that the curvature deviation information satisfies the preset deviation condition, it is determined that the pre-bent connecting rod subjected to bending processing satisfies a preset qualified condition. The preset qualified condition can be that the obtained curvature deviation information satisfies the preset deviation condition.

[0101] Computer program code for carrying out operations of some embodiments of the present disclosure can be written in one or more programming languages or combinations of languages including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages such as "C" or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0103] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0104] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A pedicle screw, characterized in that, The pedicle screw comprises a screw body, a connector and an adjusting assembly, wherein, The connector comprises a U-shaped body, a screw plug and a pressing block, the U-shaped body comprises a U-shaped body opening for placing a pre-bent connecting rod, and the screw plug is used for screwing the pre-bent connecting rod into the U-shaped body opening; The adjusting assembly comprises a connecting seat and a universal head, the universal head is arranged at the tail end of the screw body, the universal head can move vertically along the screw body, the connecting seat is sleeved on the universal head, the contact surface between the universal head and the connecting seat is a spherical surface, the connecting seat can rotate along the spherical surface, the outer part of the connecting seat is a sliding block structure, the sliding block structure and a sliding groove structure embedded in the connector are combined into an embedded assembly, and the connector can move horizontally along the connecting seat; in the use state, the connector can move vertically along the screw body, move horizontally and rotate omnidirectionally; In the use process, the direction of the U-shaped body opening is adjusted by rotating the connector, so that the pre-bent connecting rod can be placed in the U-shaped body opening; when the pre-bent connecting rod is screwed into the U-shaped body opening by using the screw plug, the adjusting assembly and the connector can be adaptively adjusted to adapt to the positional deviation between the pedicle screw and the pre-bent connecting rod.

2. The pedicle screw of claim 1, wherein, The material of the screw body is cobalt-chromium-molybdenum alloy, medical stainless steel or titanium alloy.

3. The pedicle screw of claim 1, wherein, The diameter of the screw body ranges from 3.0 mm to 8.5 mm, and the length of the screw body ranges from 20 mm to 90 mm.

4. The pedicle screw of claim 1, wherein, The tail end of the screw body is provided with a connecting groove, and the connecting groove is arranged on the side wall of the screw body and extends along the vertical direction of the screw body.

5. The pedicle screw of claim 4, wherein, The inner wall of the universal head is provided with a connecting pin shaft, and the connecting pin shaft is embedded in the connecting groove; in the use state, the universal head can slide vertically along the screw body, and the connecting pin shaft slides in the connecting groove correspondingly.

6. The pedicle screw of claim 5, wherein, The universal head can be located at a first position, a second position or any position between the first position and the second position of the screw body; in the use state, when the universal head is located at the first position of the screw body, the connecting pin shaft abuts against the side wall close to the head end of the screw body; when the universal head is located at the second position of the screw body, the connecting pin shaft abuts against the side wall close to the tail end of the screw body; when the universal head is located at any position between the first position and the second position and the connector abuts against the pre-bent connecting rod, the pressing block fixes the universal head at any position between the first position and the second position.

7. The pedicle screw of claim 1, wherein, The screw body comprises a screw installation wrench cooperation hole.

8. A mounting system of a pedicle screw, the mounting system of the pedicle screw comprising a master control chip, a mechanical arm and a pedicle screw and a pre-bent connecting rod as claimed in any one of claims 1-7, wherein, The master control chip is configured to control the mechanical arm to perform implantation processing on a preset number of pedicle screws. The master control chip is configured to generate curvature deviation information between the implanted preset number of pedicle screws and the pre-bent connecting rod after bending processing according to the photographed bending image information and the connecting line image information, wherein the mechanical arm is provided with a camera, the bending image information and the connecting line image information are photographed by the provided camera, the bending image information represents an image of the photographed pre-bent connecting rod in a curved state, and the connecting line image information represents an image of each U-shaped body included in each implanted pedicle screw; The master control chip is configured to control the mechanical arm to perform installation processing on the implanted preset number of pedicle screws and the pre-bent connecting rod after bending processing in response to determining that the pre-bent connecting rod after bending processing meets a preset qualified condition.

Images