Operation method of automatic nail planting system

Abstract

The invention discloses an operation method of an automatic nail planting system. The operation method comprises the following steps: operating the nail implanting device to move to a position above a surgical incision; the nail implanting device is operated to move in the axial direction to enter the surgical incision, and the needle tip of the guide needle makes contact with a preset surgical site; driving the guide pin to advance through the motor assembly and rotating at a first rotating speed and a first torsion at the same time, so that the guide pin is drilled into the predetermined surgical site to form a guide hole; the power transmission assembly is driven by the motor assembly, the hollow vertebral arch nail is controlled to be locked into the guide hole at a second rotating speed and a second torsion, the second rotating speed is smaller than the first rotating speed, and the second torsion is larger than the first torsion; and releasing the connection between the power transmission assembly and the hollow vertebral arch nail, and operating the nail implanting device to retreat out of the surgical incision. According to the operation method of the automatic nail implanting system, the steps of drilling and nail locking are combined at the same time, the nail implanting operation procedure is simplified, and the efficiency and accuracy of the nail implanting operation are improved.

Description

Technical Field

[0001] This invention relates to an operating method, and more particularly to an operating method for an automatic staple implantation system. Background Technology

[0002] Pedicle fixation surgery is a common procedure for treating lower back pain. It involves making a tiny incision in the skin, creating a pilot hole using instruments such as a trocar or bone drill, inserting a guide wire, and then locking the hollow pedicle screw into the spine along the guide wire to complete the implantation and fixation of the pedicle screw.

[0003] However, existing pedicle screw implantation methods require rather cumbersome surgical procedures and instrument changes. Furthermore, when placing the guide wire through the guide hole, positional deviation is prone to occur, resulting in a discrepancy between the final implantation location and the pre-planned location.

[0004] Therefore, how to overcome the above-mentioned defects through structural design improvements has become one of the important issues that the project aims to address. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by providing an operating method for an automated pedicle screw implantation system. This solves the technical problem that existing pedicle screw implantation methods require cumbersome surgical procedures and instrument changes, which affect the efficiency and accuracy of screw implantation.

[0006] To address the aforementioned technical problems, one technical solution adopted by this invention is to provide an operating method for an automatic pedicle screw implantation system. The automatic pedicle screw implantation system includes an implantation device, which comprises a motor assembly, a power transmission assembly, and a guide pin. The power transmission assembly and the guide pin are poweredly connected to the motor assembly. The power transmission assembly is used to assemble a hollow pedicle screw, and the guide pin passes through the hollow pedicle screw and is coaxially configured. The operating method includes at least the following steps: moving the implantation device to a position above a surgical incision; moving the implantation device axially into the surgical incision, causing the tip of the guide pin to contact a predetermined surgical site; driving the guide pin forward via the motor assembly and simultaneously rotating it at a first rotational speed and a first torque, causing the guide pin to drill into the predetermined surgical site to form a guide hole; driving the power transmission assembly via the motor assembly to control the hollow pedicle screw to lock into the guide hole at a second rotational speed and a second torque, wherein the second rotational speed is less than the first rotational speed, and the second torque is greater than the first torque; and disengaging the power transmission assembly from the hollow pedicle screw and operating the implantation device to withdraw outside the surgical incision.

[0007] One of the beneficial effects of this invention is that the operation method of the automatic pedicle screw implantation system provided by this invention can drive the guide pin to drill a guide hole at high speed and low torque through the motor assembly, and then control the hollow pedicle screw to be locked into the guide hole at low speed and high torque through the power transmission assembly driven by the motor assembly. Therefore, the operation method of the automatic pedicle screw implantation system of this invention combines the drilling and locking steps, and can complete the pedicle screw implantation surgery without changing instruments, which not only simplifies the pedicle screw implantation surgery procedure, but also improves the efficiency and accuracy of the pedicle screw implantation surgery.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of an automatic staple implantation system according to an embodiment of the present invention.

[0010] Figure 2 This is a functional block diagram of the automatic nail implantation system according to an embodiment of the present invention.

[0011] Figure 3 This is a schematic diagram of the nail implantation device according to an embodiment of the present invention.

[0012] Figure 4 This is a partially enlarged schematic diagram of the nail-planting device according to an embodiment of the present invention.

[0013] Figure 5 This is a schematic diagram of the guide pin and hollow pedicle screw during the drilling process according to an embodiment of the present invention.

[0014] Figure 6 This is a schematic diagram of the guide pin and hollow pedicle screw during the locking process according to an embodiment of the present invention.

[0015] Figure 7 The diagram illustrates steps S1 to S9 of the operation method of the automatic nail implantation system of the present invention.

[0016] Figure 8 This is a schematic diagram of steps S11 to S13 of the operation method of the automatic nail implantation system of the present invention. Detailed Implementation

[0017] The following specific embodiments illustrate the implementation of the "operation method of the automatic staple implantation system" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.

[0018] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components, these components should not be limited by these terms. These terms are primarily used to distinguish one component from another. Furthermore, the term "or" as used herein should, as appropriate, include any combination of one or more related listed items.

[0019] Example

[0020] See Figure 1 and Figure 2 As shown, this embodiment of the invention provides an operation method for an automatic staple implantation system, applicable to an automatic staple implantation system D. The automatic staple implantation system D includes, but is not limited to, a staple implantation device 1, a machine device 2, and a processing device 3. The machine device 2 is connected to the staple implantation device 1. The processing device 3 is electrically connected to the machine device 2 and is used to control the operation of the machine device 2.

[0021] For example, the machine device 2 may be a robotic arm capable of multi-degree-of-freedom movement. The machine device 2 can grasp surgical instruments via an adapter, such as the staple implantation device 1 of this invention. For example, the processing device 3 may include a processor and memory, but this invention is not limited to these. The processor may be, for example, but not limited to, an integrated circuit of a programmable logic controller circuit, a microprocessor circuit, or a microcontroller circuit, a central processing unit, etc. The memory may be, for example, but not limited to, random access memory (RAM), read-only memory (ROM), flash memory, a hard disk, or any other storage device that can be used to store data.

[0022] The staple implantation device 1 includes a motor assembly 11, a power transmission assembly 12, and a guide pin 13. The processing device 3 is electrically connected to the staple implantation device 1 and controls the motor assembly 11. The power transmission assembly 12 is connected between the motor assembly 11 and the guide pin 13, and the power transmission assembly 12 and the guide pin 13 are powered by the motor assembly 11.

[0023] Please see Figure 3 , Figure 4 For example, the power transmission assembly 12 may include a coupling 121 and a linkage assembly connected to the coupling 121. The linkage assembly includes a coaxial first rod 122 and a second rod 123. The first rod 122 is sleeved around the second rod 123, and the first rod 122 and the second rod 123 can operate independently of each other. The coupling 121 is connected to the motor assembly 11, and the motor assembly 11 transmits power to the first rod 122 and the second rod 123 through the coupling 121. One end of the second rod 123 is connected to the coupling 121, and the other end is connected to a guide needle 13. The guide needle 13 may also be called a puncture needle or a K-pin. Additionally, as... Figure 5 As shown, the power transmission assembly 12 is used to assemble a hollow pedicle screw T. The guide pin 13 passes through the hollow pedicle screw T and is coaxially configured with the hollow pedicle screw T. Furthermore, the guide pin 13 and the hollow pedicle screw T are separate from each other and do not interfere with each other.

[0024] See Figure 4 and Figure 5 As shown, the first rod 122 has a first connecting portion 1221 and two second connecting portions 1222 at both ends. The coupling 121 has a connecting portion 1211. The coupling 121 is connected to the first connecting portion 1221 of the first rod 122 through the connecting portion 1211. One end of the hollow pedicle screw T has a U-shaped structure. After the guide pin 13 passes through the hollow pedicle screw T, it is further connected to the two second connecting portions 1222 of the first rod 122 through the two ears T1 of the U-shaped structure to fix it to the nail implantation device 1. For example, the U-shaped structure of the hollow pedicle screw T and the second connecting portions 1222 of the first rod 122 can be connected by snap-fit, tenon joint, or fastening, which is not limited to this invention.

[0025] Continue reading Figures 1 to 2The automated staple implantation system D may also include a surgical navigation module 4, which includes multiple navigation marker components 41 and an optical tracker 42. The multiple navigation marker components 41 are distributed on the machine device 2, the staple implantation device 1, and near the predetermined surgical site P. Each navigation marker component 41 includes a dynamic reference frame (DRF) and multiple optical components disposed on the dynamic reference frame. The optical components may be, for example, reflective spheres or marker components capable of generating perceptible signals. The optical tracker 42 is electrically connected to the processing device 3. The multiple navigation marker components 41 can serve as spatial positioning markers to establish a spatial coordinate system, and the optical tracker 42 can sense, detect, and record the coordinate positions of the multiple optical components on the navigation marker components 41, and transmit this information to the processing device 3 for appropriate calculation and / or storage.

[0026] The automated staple implantation system D also includes a display device 5 and an electrical connection processing unit 3. For example, the display device 5 may include a screen and a buzzer (not shown). The processing unit 3 acquires images of the vicinity of the predetermined surgical site P via the surgical navigation module 4 and integrates these with pre-acquired medical images, such as computed tomography (CT) or magnetic resonance imaging (MRI), to create a three-dimensional virtual model of the vicinity of the predetermined surgical site P. The constructed three-dimensional virtual model can be displayed on a navigation interface of the display device 5.

[0027] See Figure 7 and Figure 8 As shown, the operation method of the automatic staple implantation system D of the present invention includes at least the following steps:

[0028] Step S1: Move the implant device to a position above a surgical incision;

[0029] Step S3: Operate the implantation device to move along an axis and enter the surgical incision, so that the tip of the guide needle touches a predetermined surgical site.

[0030] Step S5: Drive the guide needle forward through the motor assembly and rotate it at a first speed and a first torque, so that the guide needle drills into the predetermined surgical site to form a guide hole.

[0031] Step S7: Drive the power transmission component through the motor assembly to control the hollow pedicle screw to be locked into the guide hole at a second rotation speed and a second torque, wherein the second rotation speed is less than the first rotation speed and the second torque is greater than the first torque;

[0032] Step S9: Disconnect the power transmission component from the hollow pedicle screw and operate the screw implantation device to withdraw it outside the surgical incision.

[0033] Furthermore, the operation method of the automatic staple implantation system D provided by the present invention allows for the operation of the machine device 2 to perform the following steps while operating the staple implantation device (steps S1 and S3):

[0034] Step S11: Move the implant device to a position above the surgical incision according to the predetermined surgical path;

[0035] Step S12: Correct the posture of the implantation device according to the predetermined surgical path, wherein the posture includes the position and angle of the implantation device;

[0036] Step S13: Move the implant device to the predetermined surgical site following the surgical path.

[0037] Next, steps S1 to S7 and steps S11 to S13 will be described in detail. (See also...) Figure 1 , Figure 5 and Figure 6 As shown, the patient (i.e., patient B) lies prone on the operating table. When the medical personnel prepare to perform the surgery, the processing device 3 can pre-plan a predetermined surgical path based on the spatial coordinate system and the constructed three-dimensional virtual model, and further control the machine device 2 to correct the posture of the implant device 1 according to the predetermined surgical path, such as the position and angle of the implant device 1 relative to the predetermined surgical site P (e.g., the pedicle of the spine). Next, after the medical personnel use a scalpel to make a surgical incision S, the processing device 3 controls the machine device 2 according to the predetermined surgical path, causing the machine device 2 to move the implant device 1 above the surgical incision S. After determining the position, the machine device 2 fixes the axis of the implant device 1. Then, following the predetermined surgical path, the processing device 3 controls the machine device 2 to lower the implant device 1 to the predetermined surgical site P, and the medical personnel can manually hold the machine device 2 to perform the surgery on the predetermined surgical site P; or, the processing device 3 can automatically control the machine device 2 to perform the surgery on the predetermined surgical site P.

[0038] The implantation device 1 is moved along the axial direction (i.e., the axial direction of the linkage assembly) into the surgical incision S, so that the tip 131 of the guide needle 13 contacts the predetermined surgical site P. Next, the processing device 3 controls the motor assembly 11 in the implantation device 1 to provide power to drive the power transmission assembly 12, causing the guide needle 13 to rotate at high speed. Simultaneously, the motor assembly 11 provides power through the coupling 121 to the second rod 123, causing the second rod 123 to drive the guide needle 13 towards the predetermined surgical site P, thereby drilling into the predetermined surgical site P along a first rotation direction to form a guide hole H (see...). Figure 5 Furthermore, the guide pin 13 rotates at a first rotational speed and a first torque. Optionally, the first rotational speed is greater than 10,000 rpm, and the first torque is less than 0.5 Nm.

[0039] When the guide needle 13 drills into the predetermined surgical site P to form the guide hole H, the first rod 122 does not move. More precisely, when the guide needle 13 drills, the hollow pedicle screw T is fitted around the guide needle 13 and remains stationary. After the guide hole H is created, the processing device 3 continues to operate the implantation device 1, causing the motor assembly 11 to provide power and transmit it to the first rod 122 through the coupling 121, driving the first rod 122 forward toward the guide hole H. At the same time, the hollow pedicle screw T, fixed to the first rod 122, is locked into the guide hole H at a low speed along a second rotation direction (see...). Figure 6 Furthermore, the hollow pedicle screw T rotates at a second rotational speed and a second torque. Optionally, the second rotational speed is less than 300 rpm, and the second torque is greater than 5 Nm.

[0040] In other words, the guide pin 13 first creates the guide hole H under conditions of high rotation speed and low torque, and then the hollow pedicle screw T is locked into the guide hole H under conditions of low rotation speed and high torque. Furthermore, the first rotation direction is opposite to the second rotation direction; for example, the first rotation direction is clockwise, and the second rotation direction is counterclockwise. Therefore, the implantation device 1 of the present invention can output different torques and rotation speeds in both directions, fulfilling the requirement of both creating the guide hole H and locking in the hollow pedicle screw T.

[0041] Furthermore, during the process of locking the hollow pedicle screw T into the guide hole H, since the guide pin 13 and the hollow pedicle screw T are separate and do not interfere with each other, the guide pin 13 is initially in a stopped state. Considering the relative positional relationship between the guide pin 13 and the hollow pedicle screw T, as the hollow pedicle screw T gradually locks into the guide hole H, the guide pin 13 synchronously exits the guide hole H relative to the hollow pedicle screw T. After the hollow pedicle screw T is locked into the guide hole H and fixed in the predetermined position, the connection between the power transmission component 12 and the hollow pedicle screw T is released, causing the hollow pedicle screw T to detach from the first rod 122. Then, the processing device 3 operates the implantation device 1 to exit outside the surgical incision S.

[0042] By repeating steps S1 to S9, multiple hollow pedicle screws T can be secured to the pedicle. Furthermore, after the hollow pedicle screw T passes through the pedicle, its front end is locked into the vertebral body, while its rear end (U-shaped structure) protrudes for connection with a steel strip (not shown). Therefore, the steel strip can connect multiple hollow pedicle screws T to achieve spinal fixation.

[0043] Therefore, the implantation device 1 of the present invention can rotate the guide needle 13 at high speed (above 10,000 rpm), so that the tip 131 of the guide needle 13 quickly drills into the bone surface to form the guide hole H immediately upon contact, without slippage or deviation, and the formation position of the guide hole H is more precise. On the other hand, the present invention also uses a mechanism design in which the hollow pedicle screw T and the guide needle 13 are separated from each other, so that the hollow pedicle screw T covers the guide needle 13 and remains stationary, preventing the guide needle 13 from contacting other parts of the patient's body (non-surgical sites) during high-speed rotation and causing damage.

[0044] Furthermore, this invention can achieve both creating the guide hole H and locking the hollow pedicle screw T using the same instrument (i.e., the implantation device 1). No instrument changes are required during the creation of the guide hole H and the locking process, eliminating unnecessary installation steps. Moreover, the implantation device 1 of this invention, through the mechanism design of the power transmission assembly 12 (first rod 122 and second rod 123), allows the guide pin 13 to extend and retract when the motor assembly 11 rotates in different directions. Therefore, when locking the screw, the guide pin 13 can retract into the hollow pedicle screw T, ensuring no damage to the vertebral body.

[0045] In addition, such as Figure 2 As shown, the pin-installing device 1 also includes a torque sensor 14 and a motor encoder 15, which are coupled to the motor assembly 11. The torque sensor 14, also called a torque meter, is used to measure the torque of the motor assembly 11. The torque sensor 14 can be a strain gauge torque sensor, a capacitive torque sensor, or a piezoelectric torque sensor, and is not limited thereto. The motor encoder 15 is used to measure the rotational speed of the motor assembly 11, and the torque sensor 14 and the motor encoder 15 are electrically connected to the processing device 3. The processing device 3 can monitor the operation of the pin-installing device 1 by reading the rotational speed and torque values ​​of the motor assembly 11.

[0046] Once the processing device 3 detects a change in the rotational speed and torque values ​​of the motor assembly 11, it will control the implantation device 1 to immediately stop the operation of the motor assembly 11, thus preventing bone fracture. Furthermore, if the processing device 3 detects that the machine device 2 is pushed or pulled by an external force and deviates from the predetermined surgical path, it will provide visual or auditory warning signals (e.g., a red flashing effect on a portion of the screen, or a specific sound from a buzzer) to the medical personnel via the display device 5. In short, the automatic implantation system D of the present invention can detect the displacement of the implantation device 1 in real time and can provide real-time visual or auditory warnings to the medical personnel during surgical navigation, increasing positioning reliability and navigation accuracy.

[0047] Beneficial effects of the embodiments

[0048] The automatic pedicle screw implantation system provided by this invention operates by using a motor assembly to drive a guide pin to drill a guide hole at high speed and low torque, and then using the motor assembly to drive a power transmission assembly to control the hollow pedicle screw to be locked into the guide hole at low speed and high torque. Therefore, the automatic pedicle screw implantation system of this invention combines drilling and screw locking steps, enabling the completion of the pedicle screw implantation surgery without changing instruments. This not only simplifies the procedure but also improves the efficiency and accuracy of the surgery.

[0049] Existing pedicle screw techniques create guide holes through a hammering motion. This method is prone to slippage on smooth bone surfaces. The implantation device 1 of this invention can rotate the guide needle 13 at high speed (over 10,000 rpm), allowing the needle tip 131 of the guide needle 13 to quickly drill into the bone surface upon contact, forming the guide hole H without slippage or deviation, resulting in more precise positioning of the guide hole H. Furthermore, this invention employs a mechanism design where the hollow pedicle screw T and the guide needle 13 are separated, ensuring the hollow pedicle screw T covers and remains stationary over the guide needle 13. This prevents the guide needle 13 from contacting other parts of the patient's body (non-surgical areas) during high-speed rotation, thus avoiding potential injury.

[0050] Furthermore, existing pedicle screw implantation procedures require instrument changes to create the guide hole H and insert the hollow pedicle screw T. In contrast, this invention can achieve both the creation of the guide hole H and the insertion of the hollow pedicle screw T using the same instrument (i.e., the screw implantation device 1). No instrument changes are needed during the creation of the guide hole H and the screw insertion process, eliminating unnecessary installation steps.

[0051] Furthermore, existing pedicle screw implantation procedures require the installation of a guide wire through the hollow pedicle screw, allowing the screw to move along the wire to the guide hole for locking. However, the surgical method using a guide wire cannot guarantee that the guide pin or pedicle screw will not penetrate the spine. Therefore, the implantation device 1 of the present invention, through the mechanism design of the power transmission assembly 12 (first rod 122 and second rod 123), enables the guide pin 13 to move forward and backward when the motor assembly 11 rotates in different directions. Therefore, when locking the screw, the guide pin 13 can retract into the hollow pedicle screw T, ensuring that the vertebral body is not damaged.

[0052] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the claims of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the claims of the present invention.

Claims

1. A method for operating an automatic pedicle screw implantation system, the automatic pedicle screw implantation system comprising an implantation device, the implantation device comprising a motor assembly, a power transmission assembly, and a guide pin, the power transmission assembly and the guide pin being poweredly connected to the motor assembly, the power transmission assembly being used to assemble a hollow pedicle screw, the guide pin passing through the hollow pedicle screw and being coaxially configured, characterized in that, The operation method includes at least the following steps: The implantation device is moved to a position above a surgical incision; The implantation device is moved along an axis to enter the surgical incision, so that the tip of the guide needle touches a predetermined surgical site. The guide needle is driven forward by the motor assembly and rotates at a first speed and a first torque, so that the guide needle drills into the predetermined surgical site to form a guide hole. The power transmission assembly is driven by the motor assembly to control the hollow pedicle screw to be locked into the guide hole at a second rotational speed and a second torque, wherein the second rotational speed is less than the first rotational speed and the second torque is greater than the first torque; and Disconnect the power transmission component from the hollow pedicle screw, and operate the screw implantation device to withdraw outside the surgical incision.

2. The operation method of the automatic staple implantation system according to claim 1, characterized in that, The first rotational speed is greater than 10,000 rpm, the first torque is less than 0.5 Nm, the second rotational speed is less than 300 rpm, and the second torque is greater than 5 Nm.

3. The operation method of the automatic staple implantation system according to claim 1, characterized in that, The guide needle creates the guide hole along a first rotation direction, and the hollow pedicle screw is locked into the guide hole along a second rotation direction, wherein the first rotation direction is opposite to the second rotation direction.

4. The operation method of the automatic staple implantation system according to claim 1, characterized in that, The guide pin and the hollow vertebral nail are separate from each other and do not interfere with each other.

5. The operation method of the automatic staple implantation system according to claim 4, characterized in that, When the guide needle is drilling, the hollow vertebral nail is fitted around the guide needle and remains stationary.

6. The operation method of the automatic staple implantation system according to claim 1, characterized in that, When the hollow pedicle screw is locked into the guide hole, the guide pin is simultaneously withdrawn from the guide hole relative to the hollow pedicle screw.

7. The operation method of the automatic staple implantation system according to claim 1, characterized in that, The automatic staple implantation system also includes a machine device and a processing device. The processing device is electrically connected to the machine device, and the machine device is connected to the staple implantation device. The processing device is used to control the operation of the machine device.

8. The operation method of the automatic staple implantation system according to claim 7, characterized in that, The automatic staple implantation system also includes a surgical navigation module, which includes multiple navigation marker components respectively set on the machine device, the staple implantation device and the predetermined surgical site to establish a spatial coordinate system, so that the processing device can plan a predetermined surgical path according to the spatial coordinate system.

9. The operation method of the automatic staple implantation system according to claim 8, characterized in that, The operation method of the automatic staple implantation system also includes: Configure the machine device to: The implant device is moved to a position above the surgical incision according to the predetermined surgical path; The orientation of the implantation device is corrected according to the predetermined surgical path, wherein the orientation includes the position and angle of the implantation device; and The implant device is moved to the predetermined surgical site along the predetermined surgical path.

10. The operation method of the automatic staple implantation system according to claim 7, characterized in that, The pin-planting device further includes a torque sensor and a motor encoder. The torque sensor and the motor encoder are coupled to the motor assembly. The torque sensor is used to measure the torque of the motor assembly, and the motor encoder is used to measure the rotational speed of the motor assembly. The torque sensor and the motor encoder are electrically connected to the processing device, which is used to read the rotational speed and torque value of the motor assembly to monitor the operation of the pin-planting device.

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