A stapling system for a surgical robot

Abstract

The present disclosure relates to a stapling system for a surgical robot, the stapling system comprising a cannulated stapler and a cannulated staple. The cannulated staple is detachably connected with the cannulated stapler. The cannulated stapler comprises an inner core and an outer sleeve tube sleeved outside the inner core. The inner core is provided with a first through hole penetrating in the axial direction. The distal surface of the outer sleeve tube is provided with external threads. The cannulated staple comprises a staple seat and a cannulated staple head fixedly connected with the staple seat. The staple seat is provided with a cavity fitting the distal portion of the inner core, and the staple seat is provided with internal threads matching the external threads. The cannulated staple head is provided with a second through hole penetrating in the axial direction.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and more specifically to a pinning system for a surgical robot. Background Technology

[0002] Pedicle screw fixation is one of the core techniques commonly used in spinal surgery, playing a crucial role in restoring and reconstructing spinal stability during the treatment of spinal diseases. To improve the accuracy of pedicle screw placement, technologies such as navigation and robot-assisted placement have been developed and applied clinically. However, during existing orthopedic surgical robotic procedures, screw slippage on the bone surface is a common and high-risk occurrence.

[0003] Therefore, many doctors hope to use guide wires to guide the placement of screws, improve the safety of robotic screw placement, and enhance doctors' confidence in robotic screw placement. Summary of the Invention

[0004] This disclosure provides a screw-installing system for a surgical robot, comprising a hollow screw-installer and a hollow screw. The hollow screw is detachably connected to the hollow screw-installer. The hollow screw-installer includes an inner core and an outer sleeve fitted over the inner core. The inner core has a first through hole extending axially. The distal surface of the outer sleeve has external threads. The hollow screw includes a screw seat and a hollow screw head fixedly connected to the screw seat. The screw seat has a cavity for assembling the distal portion of the inner core, and the screw seat has internal threads matching the external threads. The hollow screw head has a second through hole extending axially.

[0005] The screw placement system of this disclosure enables robotic screw placement under guidewire guidance, avoiding slippage of solid screws on the bone surface and achieving higher accuracy. The screw placement system according to this disclosure realizes automatic screw placement by the surgical robot. Because the robotic arm of the surgical robot is controllable and highly stable, it reduces the impact on surgical precision caused by natural hand tremors of the surgeon, significantly reduces screw tract damage, provides good screw placement stability, and effectively reduces prestress in the screw rod system, ensuring screw placement accuracy.

[0006] In one embodiment, the pinning system further includes a guide wire with a radial dimension smaller than that of the first through hole and the second through hole, such that the guide wire extends from the distal end of the hollow pin through the first through hole and the second through hole.

[0007] Preferably, the guidewire includes a guidewire core.

[0008] More preferably, the distal end of the guidewire core has a bifurcated structure.

[0009] Preferably, the nailing system further includes a quick-connect device, the proximal end of which is connected to the inner core of the hollow nailer, and the distal end of which is connected to the robotic arm.

[0010] More preferably, the guidewire is provided with graduations, and the quick-connect device is provided with a window for observing the graduations.

[0011] In one embodiment, the distal end of the inner core is provided with a head, a stop is fixedly provided on the inner core, and the pin seat is provided with a positioning groove that matches the head of the inner core and a slot that matches the stop.

[0012] Preferably, the cross-sectional shape of the head of the inner core and the cross-sectional shape of the positioning groove are both hexagonal.

[0013] In one embodiment, a rotating element is fixedly disposed near the proximal end of the inner core.

[0014] Preferably, the rotating component has a nut structure.

[0015] Preferably, the side wall of the rotating component is provided with a hole.

[0016] In one embodiment, the limiting member is movably sleeved outside the inner core, and the limiting member is fixed to the inner core by a limiting mechanism.

[0017] Preferably, the limiting member is a limiting ring, which is provided with a button and is configured such that when the button is pressed, the limiting ring can slide on the inner core, and when the button is released, the limiting ring is fixed on the inner core.

[0018] The example is described in detail below with reference to the accompanying drawings, and further details and advantages of the example will become clear. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0020] Figure 1 This is a schematic diagram of a pinning system without a guide wire according to an embodiment of the present disclosure;

[0021] Figure 2a This is a schematic diagram of a guide wire-integrated pinning system according to an embodiment of the present disclosure;

[0022] Figure 2b It is along Figure 2a A schematic diagram of a partial cross-section intercepted by line AA;

[0023] Figure 3 This is a schematic diagram of a nailing system according to an embodiment of the present disclosure that does not include a quick-connect device;

[0024] Figure 4 This is a schematic diagram of a hollow nailer according to an embodiment of the present disclosure;

[0025] Figure 5a This is a schematic diagram of a hollow nail according to an embodiment of the present disclosure;

[0026] Figure 5b yes Figure 5a A top view of a hollow nail; and

[0027] Figure 6 This is a schematic diagram of a guidewire according to an embodiment of the present disclosure. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0029] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” indicate that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” “right,” “top,” and “bottom” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0030] The terms “proximal,” “proximal,” “distal,” and “farthest” are used in this text in relation to the clinician (surgical robot) who manipulates the surgical instruments. The terms “proximal” and “proximal” refer to the part closest to the clinician (surgical robot), while the terms “distal” and “farthest” refer to the part furthest from the clinician (surgical robot).

[0031] The applicant found that during existing orthopedic surgical robotic procedures, screw slippage on the bone surface is a common and high-risk occurrence. Many surgeons hope to apply wire-guided screw placement techniques to orthopedic robotic surgery, believing that wire-guided screw placement makes the procedure safer and, due to the limitations of wire guidance, gives surgeons more confidence in the robotic orthopedic procedure. The applicant also found that the guidewires used in clinical wire-guided screw placement techniques are too long and unsuitable for placement in robotic surgery. Therefore, there is an urgent need to design a safe and reliable screw placement system for surgical robots to perform short-wire-guided screw placement.

[0032] To address the aforementioned technical problems, this disclosure provides a screw-installing system for a surgical robot, comprising a hollow screw-installer and a hollow screw. The hollow screw is detachably connected to the hollow screw-installer. The hollow screw-installer includes an inner core and an outer sleeve fitted over the inner core. The inner core has a first through hole extending axially. The distal surface of the outer sleeve has external threads. The hollow screw includes a screw seat and a hollow screw head fixedly connected to the screw seat. The screw seat has a cavity for assembling the distal portion of the inner core, and the screw seat has internal threads matching the external threads. The hollow screw head has a second through hole extending axially.

[0033] The present disclosure will now be described through specific embodiments. To keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and components may be omitted. When any component of an embodiment of the present disclosure appears in more than one drawing, the component may be represented by the same reference numerals in each drawing.

[0034] Figure 1 This is a schematic diagram of a pinning system without a guide wire according to an embodiment of the present disclosure. Figure 2a This is a schematic diagram of a guide wire-integrated pinning system according to an embodiment of the present disclosure. Figure 2b It is along Figure 2a A schematic diagram of a partial cross-section intercepted by line AA. Figure 3 This is a schematic diagram of a nailing system without a quick-connect device according to an embodiment of the present disclosure. Figure 4 This is a schematic diagram of a hollow nailer according to an embodiment of the present disclosure. As shown, the nailing system includes a hollow nailer 100 and a hollow nail 200, the hollow nail 200 being detachably connected to the hollow nailer 100, and the hollow nailer 100 providing torsional force to the hollow nail 200 to assist in nailing. (Reference) Figure 4The hollow nailer 100 includes an inner core 110 and an outer sleeve 120. The outer sleeve 120 is fitted onto the inner core 110, and an external thread 121 is provided on the distal surface of the outer sleeve 120. Specifically, the outer sleeve 120 is fitted onto the outer periphery of the inner core 110 and can move along the axial direction of the inner core 110. In addition, the inner core 110 is also provided with a first through hole 113 extending axially.

[0035] The hollow stapler 100 according to an embodiment of this disclosure is adaptable to an electromagnetic navigation system for surgical robots. In this system, the electromagnetic navigation device, as a core component, is primarily responsible for real-time positioning and navigation of the target area and the end effector during surgery. In one embodiment, the hollow stapler 100 may be made of cobalt-chromium-molybdenum. Therefore, the hollow stapler 100 is non-magnetic, thus not interfering with the electromagnetic navigation system and ensuring its normal operation.

[0036] Figure 5a This is a schematic diagram of a hollow nail according to an embodiment of the present disclosure. Figure 5b yes Figure 5a A top view of a hollow nail. (Reference) Figure 5a and Figure 5b The hollow nail 200 includes a nail seat 210 and a hollow nail head 220. The nail seat 210 and the hollow nail head 220 are fixedly connected. In actual manufacturing, the nail seat 210 and the hollow nail head 220 can be integrally formed. The nail seat 210 has a cavity that can receive the distal portion of the inner core 110 of the hollow nailer 100, and an internal thread 211 that matches the external thread 121 of the outer sleeve 120 can be provided on the nail seat 210. (Reference) Figure 1 and Figure 5b The hollow nail head 220 has a second through hole 230 extending axially. Furthermore, the distal end of the hollow nail head 220 has a threaded structure 221 that allows it to be securely driven into the pedicle, such as... Figure 5a As shown.

[0037] In one embodiment, a head 112 for driving the hollow nail 200 is provided at the distal end of the inner core 110, such as... Figure 4 As shown, the inner core 110 can be matched with the hollow nail 200 via the head 112, so that the rotation of the inner core 110 drives the rotation of the hollow nail 200 to help complete the nailing operation. The stop 111 is fixedly disposed on the inner core 110 and can be engaged with the hollow nail 200, so the stop 111 can provide radial force to the hollow nail 200 to ensure that the inner core 110 rotates radially together with the hollow nail. The cavity on the nail holder 210 can receive the distal part of the inner core 110 of the hollow nailer 100, such as the head 112 of the inner core 110, the stop 111, etc. Specifically, a positioning groove 212 that matches the head 112 of the inner core 110 and a slot 213 that matches the stop 111 can be provided on the nail holder 210.

[0038] In one embodiment, the head 112 has a hexagonal structure, that is, the cross-sectional shape of the head 112 is hexagonal. Depending on actual needs, the head 112 can also have other structures suitable for driving the hollow nail 200. Since the structure of the positioning groove 212 matches the structure of the head 112 of the inner core 110, when the head 112 has a hexagonal structure, that is, the cross-sectional shape of the head 112 is hexagonal, the positioning groove 212 also has a hexagonal structure, that is, the cross-sectional shape of the positioning groove 212 is hexagonal. On the one hand, the positioning groove 212 guides and positions the head 112 of the inner core 110 during the assembly process of the hollow nail 200 and the hollow nailer 100. On the other hand, during the actual nailing process, the hexagonal head 112 of the inner core 110 can provide radial force to the hollow nail 200 through the positioning groove 212, thereby ensuring that the inner core 110 and the hollow nail 200 rotate radially together. In one embodiment, a through hole 122 is provided on the outer surface of the outer sleeve 120, such as... Figure 4 As shown. In actual use, the assembled inner core 110 can be flushed through the through hole 122.

[0039] During actual assembly, the inner core 110 of the hollow nailer 100 needs to be inserted into the cavity of the hollow nail 200. Specifically, the head 112 of the inner core 110 is aligned with the positioning groove 212 of the nail seat 210 of the hollow nail 200. At the same time, the inner core 110 is rotated so that the stop 111 on the inner core 110 is aligned with the slot 213 on the nail seat 210. Then, the head 112 of the inner core 110 is inserted into the positioning groove 212, and the stop 111 is correspondingly engaged in the slot 213. At this time, the cavity has received the far side of the inner core 110. Subsequently, the outer sleeve 120 is rotated so that the external thread 121 of the outer sleeve 120 is screwed into the internal thread 211 of the nail seat 210, thereby connecting the hollow nailer 100 and the hollow nail 200 together.

[0040] Refer again Figures 1 to 5b In one embodiment, the pinning system includes a guide wire 300, the radial dimension of which is smaller than that of the first through hole 113 (e.g., Figure 4 The radial dimension of the second through hole 230 (as shown) Figure 1 and Figure 5b The radial dimensions (as shown) are such that the guide wire 300 extends from the distal end of the hollow nail 200 through the first through hole 113 and the second through hole 230, as shown. Figure 2a As shown.

[0041] Figure 6 This is a schematic diagram of a guidewire according to an embodiment of the present disclosure. In one embodiment, such as Figure 6As shown, the guidewire 300 includes a guidewire core 310, which can provide a closing effect and the guidewire core 310 can be bent and deformed.

[0042] Currently, in clinical practice, during guidewire-guided screw placement, when the surgeon inserts the hollow screw into the bone tissue, the screw can cause the guidewire inside to move towards the bone tissue, potentially leading to further bone penetration and damage. To avoid this, surgeons typically need to rotate the hollow screw for a period of time and then pull the guidewire away from the bone tissue. This ensures the guidewire does not move with the hollow screw, preventing further bone damage from guidewire puncture. However, this pulling maneuver adds to the surgical procedure.

[0043] In the screw-placement system for a surgical robot according to this disclosure, in order to perform a safe and reliable guidewire-guided placement of the hollow screw, in one embodiment, the distal end of the guidewire core 310 has a bifurcated structure, such as... Figure 6 As shown. This bifurcated structure prevents the guidewire 300 from moving further into the bone tissue. Specifically, during the robotic placement of the pin under guidewire guidance, the hollow pin drives the guidewire towards the bone tissue. The bifurcated structure at the proximal end of the guidewire core bends upon contact with the bone tissue, thereby preventing the guidewire from continuing to move deeper into the bone tissue and avoiding further damage to the bone tissue structure.

[0044] Furthermore, the guidewires used in clinical guidewire-guided screw placement techniques are often too long and unsuitable for screw placement in robotic surgery. Therefore, to ensure compatibility with the screw placement system of this disclosure, in one embodiment, the length of the guidewire 300 is set to 200-300 mm.

[0045] refer to Figure 1 , Figure 2a and Figure 2b In one embodiment, the pinning system includes a quick-connect device 400, the distal end of which is connected to the proximal end of the inner core 110, and the proximal end of which is connected to a robotic arm (not shown). Figure 2a , Figure 2b and Figure 3 As can be seen, the guide wire 300 passes through the hollow nailer 100 and the hollow nail 200, and finally enters the quick-connect device 400. In actual operation, the robotic arm applies a torsional force to the hollow nailer 100 via the quick-connect device 400, and the hollow nailer 100 transmits the torsional force to the hollow nail 200 through the head 112 of the inner core 110 to help complete the nailing operation.

[0046] The quick-connect device 400 includes a connector 410, a coupling 420, a driven shaft 430, a fastener 440, and a screw assembly 450. The proximal end of the connector 410 is connected to the robotic arm of a surgical robot, and the distal end of the connector 410 has a first axial through-hole 413. The distal end of the connector 410 is connected to the proximal end of the coupling 420 via the fastener 440, and the coupling 420 has a second axial through-hole 421. In one embodiment, the distal end of the connector 410 is provided with a cylindrical protrusion having the first axial through-hole 413. When the connector 410 is connected to the coupling 420, this cylindrical protrusion can enter the second axial through-hole 421, thereby restricting the radial movement of the connector 410. Preferably, the outer diameter of the cylindrical protrusion is the same as the inner diameter of the second axial through-hole 421. In one embodiment, the proximal end of the connector 410 is provided with a boss 412 (e.g., Figure 2b As shown), the quick-connect device 400 mates with the recess (not shown) of the robotic arm via a boss 412 to achieve a coaxial connection between the quick-connect device 400 and the robotic arm. In one embodiment, a positioning hole 411 is provided at the proximal end of the connector 410 (e.g., ...). Figure 2b As shown), the positioning hole 411 can mate with a positioning pin (not shown) on the robotic arm, thereby enabling more accurate positioning when connecting the connector 410 and the robotic arm, thus saving assembly time. The fastener 440 can be a connecting component with a fastening function. In one embodiment, the fastener 440 can be a screw, such as... Figure 1 As shown, other fasteners can also be used, as long as the connection is secure. In another embodiment, fastener 440 can be a bolt. Furthermore, the number of fasteners 440 is determined according to actual needs. Figure 1 Two fasteners 440 are provided. The screw assembly 450 includes a screw 452 and a knob 451 connected to the screw 452. In one embodiment, the knob 451 is detachably mounted to the end of the screw 452, for example, by a radial screw. In another embodiment, the knob 451 may be fixedly connected to the screw 452.

[0047] Continue to refer to Figure 1 and Figure 2b The connecting joint 410 has a receiving cavity 414 configured to receive a knob 451, which communicates with a first axial through hole 413. The knob 451 is located at the proximal end of a screw 452, which passes through the first axial through hole 413, and the distal end of the screw 452 is located within a second axial through hole 421. A driven shaft 430 is threadedly connected to the screw 452. In one embodiment, a circular groove with internal threads is provided on the proximal end of the driven shaft 430, and an external thread is provided on the distal end of the screw, such as... Figure 2bAs shown. The internal thread at the proximal end of the driven shaft 430 locks with the external thread at the distal end of the screw 452, thereby configuring the screw assembly 450 to axially fix the driven shaft 430.

[0048] refer to Figure 2b The driven shaft 430 has a receiving groove 435 at its proximal end, and a radial through hole 435 and a steel ball 434 disposed in the radial through hole 435 are arranged on the outer surface of the driven shaft 430. A locking knob 431 is sleeved on the driven shaft 430, and the locking knob 431 is threadedly connected to the driven shaft 430. Specifically, the internal thread of the locking knob 431 is locked to the external thread of the driven shaft. A drive groove 433 is provided at the distal end of the receiving groove 435. In one embodiment, the drive groove can be a hexagonal drive groove, a square groove, a pentagonal groove, or other forms. The drive groove 433 is used to assemble the drive block 115 (e.g., ...) on the proximal end of the inner core 110. Figure 4 As shown), when the drive block 115 of the inner core 110 is inserted into the receiving groove 435, the steel ball 434 is locked in the groove 114 (as shown) provided on the proximal end of the inner core 110 by rotating the locking knob 431. Figure 4 As shown, the through holes 435 are evenly distributed around the circumference of the wall of the receiving groove 435, so that when the locking knob 431 is rotated to engage the steel ball 434 in the groove 114 provided on the inner core 110, the force exerted by the steel ball 434 on the groove 114 is evenly distributed, thereby better fixing the inner core 110 by the steel ball 434. In one embodiment, the number of through holes 435 is set according to actual needs.

[0049] In one embodiment, the quick-connect device 400 further includes a retaining ring 432. The retaining ring 432 is disposed on the driven shaft 430 to limit the movement of the locking knob 431 distally along the axial direction of the driven shaft 430 when it is not locked.

[0050] In one embodiment, the connector 410, coupling 420, driven shaft 430, and screw assembly 450 are coaxially arranged. This coaxial arrangement facilitates the assembly and disassembly of the quick-connect device by the physician, and also allows the robotic arm to better operate surgical instruments via the quick-connect device.

[0051] In one embodiment, such as Figure 2bAs shown, a flat key 436 extending axially is provided at the proximal end of the driven shaft 430, and the second axial through hole 421 includes a keyway 422 extending axially. Before the proximal end of the driven shaft 430 is threadedly connected to the distal end of the screw 452 via the second axial through hole 421, the flat key 436 can enter the keyway 422, thereby preventing the driven shaft 430 from rotating radially relative to the coupling 420. Furthermore, the keyway 422 and the flat key 436 provide guidance during the assembly of the connecting joint 410 and the coupling 420, facilitating the connection between the connecting joint 410 and the coupling 420.

[0052] refer to Figure 2b The driven shaft 430 has a third through hole 439 along its axial direction, and the screw 452 has a fourth through hole 454 along its axial direction. The radial dimensions of the guide wire 300 are smaller than the radial dimensions of the third through hole 439 and the fourth through hole 454, respectively. As described above, the radial dimensions of the guide wire 300 are smaller than the first through hole 113 (e.g., ...). Figure 4 The radial dimension of the second through hole 230 (as shown) Figure 1 and Figure 5b The radial dimension is shown. Therefore, the guide wire 300 passes through the hollow nail 200 and the hollow nailer 100 through the first through hole 113 and the second through hole 230 respectively, and then finally passes through the quick guide device 400 through the third through hole 439 and the fourth through hole 454.

[0053] Refer again Figure 2b In order to observe the condition of the guide wire 300 during the actual pin placement process, in one embodiment, the guide wire 300 is provided with a scale (not shown), and the quick-connect device 400 is provided with a window 438-1 for observing the scale, such as... Figure 6 As shown. Specifically, an observation frame 438 is also provided on the driven shaft 430. The observation frame 438 has a window 438-1, so that after the guidewire 300 passes through the third through hole 439 and the fourth through hole 454 into the quick guide device 400, the guidewire 300 can be observed through the window 438-1. The observation frame 438 can be located between the locking knob 431 and the coupling 420 in the axial direction of the driven shaft 430. As mentioned above, in the guidewire-guided screw placement technique in clinical practice, when the physician screws the hollow screw into the bone tissue, the hollow screw will drive the guidewire to move towards the bone tissue, thereby causing the guidewire to enter and damage the bone tissue. During the guidewire-guided screw placement, the status of the guidewire 300 during the operation can be monitored through the window 438-1. Specifically, by observing the movement of the scale of the guidewire 300 located at the window 438-1, it can be determined whether the guidewire 300 has moved towards the bone tissue as the screw placement process progresses. In one embodiment, the receiving cavity 414 also has a window serving as an observation scale, such as Figure 2b As shown.

[0054] After the robot has attached a nail, difficulties may arise in removing the nail due to excessive torque or low coaxiality. This disclosure improves the coaxiality between the nailer and the robot through structural design, develops a nail removal assistance function, and provides a nail removal mode using a hand-tightening / wrench, further enhancing the safety performance of the robot's nail placement. Specifically, as follows... Figure 4 As shown, in one embodiment, a rotating member 123 is fixedly disposed at the proximal end of the inner core 110. When it is necessary to remove the screw, the rotating member 123 can be manually rotated to perform the screw removal operation. In a preferred embodiment, the rotating member 123 has a nut structure, and a wrench can be used to remove the screw when it is necessary. In a preferred embodiment, a hole 124 is provided on the side wall of the nut. When it is necessary to remove the screw, the doctor can insert a screwdriver into the hole 124 and rotate the rotating member 123 via the screwdriver to perform the screw removal operation. Specifically, when the robot completes the actual screw-in operation, the robotic arm may deviate from the actual hole position, causing the screw and the screwdriver to occasionally get stuck, which makes it difficult for the doctor to directly reverse the operation of the outer tube. At this time, the doctor can use a screwdriver to insert into the hole 124 of the outer tube 120 to reverse the outer tube 120 and complete the separation.

[0055] In one embodiment, the limiting member is movably sleeved outside the inner core 110, and is fixed to the inner core 110 via a limiting mechanism. When the hollow stapler 100 and the hollow staple 200 are detachably connected, the limiting member is fixed to the inner core 110 via the limiting mechanism and closely adheres to the outer tube 120. In this case, the limiting member restricts the outer tube 120 to rotating only in place, facilitating staple removal by the physician. In a preferred embodiment, as... Figure 4 As shown, the limiting member is a limiting ring 130, and a button 131 is provided on the limiting ring 130 and is configured such that: when the button 131 is pressed, the limiting ring 130 can slide on the inner core 110, and when the button 131 is released, the limiting ring 130 is fixed on the inner core 110.

[0056] For the nail insertion system of this embodiment, the corresponding nail removal process is as follows: First, the doctor rotates the outer tube 120 in the opposite direction to push out the screw, and fixes the limiting member to the inner core 110 via the limiting mechanism and close to the outer tube 120. At this time, the button 131 provides a limiting function, so that the outer tube 120 can only rotate in place. The hollow nail 200 is pushed forward under the action of the thread. This force is applied in the direction away from the hexagonal head 112, which can better separate the hollow nail inserter 100 and the hollow nail 200.

[0057] The screw placement system of this disclosure enables robotic screw placement under the guidance of a short guidewire, avoiding slippage of solid screws on the bone surface and achieving higher accuracy. The guidewire is designed to be short and compatible with the surgical robot, making the screw placement system of this disclosure suitable for screw placement during robotic surgery. The screw placement system of this disclosure achieves automatic screw placement by the surgical robot. Because the robotic arm of the surgical robot is controllable and highly stable, it reduces the impact on surgical precision caused by natural hand tremors of the surgeon, significantly reduces screw tract damage, and provides good screw placement stability. Furthermore, it effectively reduces prestress in the screw rod system, ensuring screw placement accuracy. To ensure that the guidewire does not continue to enter the bone tissue, the insertion end of the guidewire is designed as a bifurcated guidewire, and a window is designed on the screw placement system to monitor whether the scale on the guidewire has moved relative to the bone, thereby determining the movement of the guidewire. In addition, the screw placement system of this disclosure also has a screw withdrawal assistance function, further improving the safety performance of robotic screw placement.

[0058] While examples of this disclosure have been provided in the foregoing description, those skilled in the art can make modifications and alterations to these examples without departing from the scope and spirit of this disclosure. For example, it should be understood that features of the embodiments herein can be applied to other embodiments described herein. Therefore, the description is intended to be illustrative rather than limiting. The disclosure is defined by the appended claims, and all changes to the disclosure falling within the meaning and equivalents of the claims are to be included within their scope.

Claims

1. A screw mounting system for a surgical robot, characterized in that, The nailing system includes: Hollow stapler, the hollow stapler comprising: The inner core has a first through hole extending along the axial direction, and An outer sleeve fitted outside the inner core, the distal surface of the outer sleeve having external threads; and A hollow nail, detachably connected to the hollow nailer, the hollow nail comprising: The pin holder has a cavity for assembling the distal portion of the inner core, and the pin holder has an internal thread that matches the external thread of the outer sleeve. A hollow nail head is fixedly connected to the nail seat, and the hollow nail head is provided with a second through hole that extends along the axial direction.

2. The nailing system according to claim 1, characterized in that, The nailing system also includes a guide wire, the radial dimension of which is smaller than the radial dimensions of the first through hole and the second through hole, respectively, such that the guide wire extends from the distal end of the hollow nail through the first through hole and the second through hole.

3. The nailing system according to claim 2, characterized in that, The guidewire includes a guidewire core.

4. The nailing system according to claim 3, characterized in that, The distal end of the guidewire core has a bifurcated structure.

5. The nailing system according to claim 2, characterized in that, The nailing system also includes a quick-connect device, the proximal end of which is connected to the inner core of the hollow nailer, and the distal end of which is connected to a robotic arm.

6. The nailing system according to claim 5, characterized in that, The guidewire is provided with a scale, and the quick connection device is provided with a window for observing the scale.

7. The nailing system according to claim 1, characterized in that, The inner core has a head at its distal end, a stop block is fixedly provided on the inner core, and the nail seat has a positioning groove that matches the head of the inner core and a slot that matches the stop block.

8. The nailing system according to claim 7, characterized in that, The cross-sectional shape of the head of the inner core and the cross-sectional shape of the positioning groove are both hexagonal.

9. The nailing system according to claim 1, characterized in that, A rotating component is fixedly installed at the proximal end of the inner core.

10. The nailing system according to claim 9, characterized in that, The rotating component has a nut structure.

11. The nailing system according to claim 9, characterized in that, The rotating component has holes on its side wall.

12. The nailing system according to claim 1, characterized in that, The limiting member is movably sleeved outside the inner core, and the limiting member is fixed to the inner core via a limiting mechanism.

13. The nailing system according to claim 12, characterized in that, The limiting component is a limiting ring, and the limiting ring is provided with a button and is constructed as follows: When the button is pressed, the limiting ring can slide on the inner core, and When the button is released, the limiting ring is fixed to the inner core.

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