End effector, automated nail-dripping system and method for orthopedic surgical navigation robot

Abstract

This invention discloses an end effector, an automated nailing system, and a method for use in orthopedic surgical navigation robots, belonging to the technical field of orthopedic surgical equipment. The end effector employs coaxially integrated dual-output-axis servo motors, a guide pin locking mechanism, and a bone screw locking mechanism. The guide pin locking mechanism ensures reliable locking of the guide pin, while the bone screw locking mechanism enables detachable connection of the bone screw. The automated nailing system, through the collaboration of the end effector, navigation and positioning, robotic arm, sensor feedback, and control modules, achieves full-process control of trajectory planning, precise pose adjustment, and automated implantation. The nailing method supports both guide pin + automatic nailing and guide pin-free direct nailing modes, combined with multi-dimensional anomaly detection to ensure safety. This invention solves the problems of low automation and insufficient implantation accuracy in traditional equipment, improving the accuracy, efficiency, and surgical safety of bone screw implantation, and is adaptable to various orthopedic surgical scenarios.

Description

Technical Field

[0001] This invention belongs to the field of orthopedic surgical equipment technology, and more specifically, relates to an end effector for an orthopedic surgical navigation robot, an automated nailing system and method thereof. Background Technology

[0002] In orthopedic surgeries, such as cannulated screw fixation for femoral neck fractures and pedicle screw fixation, surgical navigation robots are increasingly being used to improve surgical precision and safety. The typical existing workflow is usually as follows: Patient localization and image acquisition, such as obtaining image data of the target bone segment through CT, 3D C-arm or intraoperative fluoroscopy; Preoperative or intraoperative planning is performed in the navigation system to determine the optimal trajectory and endpoint of the guide needle or screw. Based on the navigation planning results, the surgical robot arm positions the end-effector or indicator at the planned needle inlet position and direction; The doctor or nurse manually holds the electric drill and drives the guide needle in the planned direction through the guide sleeve to complete the guide needle insertion; After confirming the position of the guide pin using fluoroscopy or navigation, the doctor then manually screws in a hollow nail or screw along the guide pin to complete the fracture or segment fixation.

[0003] In the aforementioned prior art, although robotic arms have been used to complete the position and attitude control of the guide sleeve, the following problems still exist.

[0004] 1. The operation process still relies on manual injection and nailing: the insertion of the guide needle is completely done manually by the doctor or nurse, and the robotic arm only acts as a "positioning sleeve"; the screwing in of hollow nails or screws also relies on manual operation by the doctor, and the robotic arm does not participate in force and displacement control. 2. Human error and operational stability issues: Doctors need to maintain a stable thrust and angle in the sleeve. Even a slight deviation may cause the guide needle to deviate from the planned path. When manually tightening screws, the torque and speed are controlled by experience, which may result in risks such as over-tightening, under-tightening, slippage, and damage to bone.

[0005] 3. Positional deviation and repeated fluoroscopy issues: Although the robotic arm aligns the sleeve with the planned trajectory, it must remain stationary during the doctor's injection and screw-in procedures. Due to external forces applied by the doctor, slight patient movements, or instrument interference, the sleeve may deviate slightly, requiring multiple fluoroscopic confirmations, which increases radiation exposure and surgical time.

[0006] 4. Complex process and heavy team burden: Steps such as injection, nailing, and multiple confirmations require repeated cooperation between doctors and nurses, making the process complex; it places high demands on the operator's physical strength, fine motor skills, and concentration, and can easily lead to fatigue.

[0007] Overall, existing orthopedic surgical navigation robots mainly complete "path planning and sleeve positioning", while "guide needle insertion and hollow screw insertion" are still mainly done manually, and the entire process from planning and positioning to injection and screw insertion has not been automated.

[0008] Meanwhile, traditional surgical procedures generally employ a two-step approach using a guide needle and hollow screws. The guide needle provides the surgeon with guidance on the screw placement trajectory and allows for corrections during the intermediate steps. With the introduction of robotic arms and navigation systems, if the spatial position tracking and force / torque feedback of the robotic arm's end effector can be used for automated screw placement, it may be possible to omit the guide needle step while ensuring safety and accuracy, thus achieving a surgical mode that eliminates the need for a guide needle and allows for direct screw placement.

[0009] Therefore, there is a need for an end effector, an automated nailing system and method that can automatically complete the insertion of guide pins and, or the direct insertion of hollow nails, under navigation constraints, thereby reducing manual operation, lowering human risk, improving surgical efficiency, and supporting both guide pin mode and guide pin-free mode clinical strategies. Summary of the Invention

[0010] The purpose of this invention is to provide an end effector, an automated nailing system and method for orthopedic surgical navigation robots, to solve the problems of low automation, insufficient implantation accuracy and complex operation procedures of traditional equipment.

[0011] To achieve the above objectives, in a first aspect, the present invention provides an end effector for an orthopedic surgical navigation robot. Includes: a load-bearing structure and a dual-output shaft servo motor, a guide pin locking mechanism, a bone screw locking mechanism, and a guide sleeve arranged coaxially in sequence; The supporting structure is equipped with a positioner, which is used to connect to the robotic arm; The dual-output-axis servo motor is fixedly connected to the bearing structure, and the output shaft is provided with a first through hole that extends axially through the shaft. The first through hole is used to accommodate the guide pin passing through. The guide pin locking mechanism is fixedly disposed at one end of the output shaft and is used to lock or unlock the guide pin. The bone screw locking mechanism is rotatably connected to the bearing structure and is drivenly connected to the output shaft to achieve synchronous rotation. A bone screw mounting structure is provided at one end away from the output shaft. The bone screw mounting structure is used to detachably connect the bone screw and realize the synchronous rotation of the bone screw and the bone screw locking mechanism. The bone screw locking mechanism is provided with an axially penetrating second through hole, which is used to accommodate the guide pin passing through. The guide sleeve is detachably connected to the bearing structure and is used to constrain the feed direction of the guide pin and the bone screw; It also includes a marking component, wherein the axis of the guide sleeve is fixed to the geometric relationship of the marking component, and is used to provide a positioning reference for the robot; It also includes a control board, which is electrically connected to the dual-output shaft servo motor and the guide pin locking mechanism, and is used to control the forward and reverse speed, acceleration and number of revolutions of the dual-output shaft servo motor, and to control the locking or unlocking of the guide pin locking mechanism.

[0012] Optionally, the guide pin locking mechanism includes: Locking mechanism one includes a three-jaw chuck and a tapered sleeve. The three-jaw chuck is coaxially and fixedly connected to the output shaft. The tail of the three-jaw chuck includes an outer tapered surface and a cylindrical section. The cylindrical section is provided with an external thread. The inner hole of the tapered sleeve includes an inner tapered surface section and an internal thread section. The internal thread section mates with the external thread of the three-jaw chuck, and the inner tapered surface section mates with the outer tapered surface of the three-jaw chuck. Locking mechanism two is fixedly installed on the bearing structure and has a retractable push rod. The end of the push rod is used to cooperate with the cylindrical groove on the outer periphery of the cone sleeve to limit the circumferential movement of the cone sleeve. Locking mechanism two is electrically connected to the control board, and the control board controls the push rod to move.

[0013] Optionally, the other end of the bone screw locking mechanism is fixedly connected to the guide pin locking mechanism to achieve synchronous rotation.

[0014] Optionally, the bone screw mounting structure includes: A polygonal groove is provided at the end of the bone screw locking mechanism away from the output shaft, for engaging with the polygonal head of the bone screw to achieve synchronous rotation of the bone screw and the bone screw locking mechanism; Multiple steel balls are disposed on the inner periphery of the polygonal groove and connected to the polygonal groove by a spring. The multiple steel balls are used to tightly cooperate with the multiple hemispherical grooves on the outer periphery of the nail head to realize the detachable connection between the bone nail and the bone nail mounting structure.

[0015] Optionally, the marking component is a tracer ball, a reflective marker, or an electromagnetic sensor.

[0016] In a second aspect, the present invention provides an automated nailing system for an orthopedic surgical navigation robot, comprising: The end effector described in the first aspect; The navigation and positioning module is used to acquire three-dimensional image data of the patient's bony structure, provide a preoperative or intraoperative planning interface, generate the target three-dimensional trajectory and endpoint position of the guide pin or bone screw, and send the planned trajectory data to the control unit. The robotic arm module has multiple degrees of freedom. The end effector is mounted on the robotic arm module. The robotic arm module is used to move the end effector to the target position and attitude in the navigation coordinate system and to perform coordinate registration and calibration with the navigation and positioning module. The sensor feedback module is used to monitor the rotational torque, feed resistance, feed position and feed depth of the guide pin or bone screw during the insertion process; The control and safety interlock module is used for closed-loop control based on the navigation trajectory, the status of the robotic arm, and feedback data from the sensor feedback module. It provides force threshold, torque threshold, and displacement threshold settings, executes anomaly detection logic, and is equipped with a doctor's hand control interface and a foot switch. The doctor's hand control interface and the foot switch are linked with the robotic arm module.

[0017] Optionally, the abnormal detection logic of the control and safety interlock module includes: automatically pausing the driving operation and issuing an alarm when the measured axial force exceeds the set force threshold or the torque exceeds the set torque threshold; When the insertion depth of the guide needle or bone screw exceeds the set displacement threshold, the feed will be forcibly stopped; When navigation markers are lost, tracking accuracy does not meet requirements, or registration status is abnormal, feed will be forcibly stopped.

[0018] Thirdly, the present invention provides an automated nailing method, based on the automated nailing system described in the second aspect. Including the guide needle + automatic staple mode, the steps are as follows: S1.1 The navigation and positioning module acquires three-dimensional images of the bony structure of the patient's target bone segment and performs spatial registration. The doctor plans the trajectory of the guide needle and bone screw. The robotic arm module aligns the guide sleeve of the end effector with the trajectory entry point and direction. S1.2 After the doctor authorizes the guide needle through the hand control interface or foot switch, the control board controls the guide needle locking mechanism to lock the guide needle, the dual output shaft servo motor drives the guide needle to rotate, the robotic arm module controls the axial feed of the guide needle, the sensor feedback module monitors the torque and axial force in real time, automatically decelerates when passing through the bone cortex, and stops after reaching the target depth. The doctor confirms the position of the guide needle through imaging. S1.3. Insert the bone screw into the guide pin and install it on the bone screw locking mechanism. After the doctor authorizes, the control board controls the guide pin locking mechanism to unlock the guide pin. The dual-axis servo motor drives the bone screw to rotate. The robotic arm module controls the bone screw to feed along the guide pin. When the torque reaches the preset locking range, it will stop automatically. The doctor confirms the fixation effect through imaging. S1.4 If multiple bone screws are required for fixation, repeat steps S1.1-S1.3.

[0019] Optionally, the staple-attaching method also includes a needle-free direct staple-attaching mode, the steps of which are as follows: S2.1 The navigation and positioning module acquires a three-dimensional image of the bony structure of the patient's target bone segment. The doctor directly uses the geometric axis of the bone nail as the planning object, defines the entry point and the end point, and generates the trajectory. S2.2 The robotic arm module adjusts the guide sleeve to be coaxial with the trajectory based on the trajectory data, and the navigation and positioning module tracks the bone nail pose in real time based on the position of the marker component; S2.3 After authorization by the doctor, the system first feeds a small distance using a trial drilling method. After confirming that the trajectory is normal, it drives the bone nail to rotate and feed at the set speed. The sensor feedback module monitors the torque, feed resistance, feed position and feed depth in real time. If there is an abnormality, it will automatically decelerate or stop. S2.4 When the bone nail approaches the preset end point, the speed is reduced precisely. When the preset depth or torque threshold is reached, the nailing stops. The doctor can interrupt the operation or make fine adjustments by using a foot switch.

[0020] Optionally, in step S1.2, the feed rate during the insertion of the guide needle is automatically adjusted according to the changes in force and torque characteristics detected by the sensor feedback module, and the feed rate is reduced to 30%-50% of the initial speed when penetrating the cortical bone. In S2.3, the feed distance for exploratory drilling is 3-8 mm, and the feed rate is 0.5-1 mm / s.

[0021] The beneficial effects of this invention are as follows: It provides an end effector for orthopedic surgical navigation robots. The end effector adopts coaxially integrated dual-output-shaft servo motors, guide pin locking mechanisms, and bone screw locking mechanisms. The guide pin locking mechanism enables reliable locking of the guide pin, and the bone screw locking mechanism enables detachable connection of the bone screw. It supports dual modes of guide pin + automatic screw insertion and guide pin-free direct screw insertion. Combined with multi-dimensional anomaly detection to ensure safety, it solves the problems of low automation and insufficient implantation accuracy of traditional equipment, improves the accuracy, efficiency and surgical safety of bone screw implantation, and is suitable for various orthopedic surgical scenarios.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0024] Figure 1 A schematic structural diagram of an end effector for an orthopedic surgical navigation robot according to Embodiment 1 of the present invention is shown.

[0025] Figure 2 An exploded view of an end effector for an orthopedic surgical navigation robot according to Embodiment 1 of the present invention is shown.

[0026] Figure 3 A flowchart of the guide pin + automatic nailing mode in the automated nailing method according to Embodiment 3 of the present invention is shown.

[0027] Figure 4A flowchart of the direct nailing mode without guide pins in the automated nailing method according to Embodiment 3 of the present invention is shown.

[0028] Explanation of reference numerals in the attached figures: 1. Load-bearing structure; 11. Upper mounting plate; 12. Lower mounting plate; 13. Middle mounting plate; 14. L-shaped support rod; 15. Outer shell; 2. Dual-axis servo motors; 3. Guide pin locking mechanism; 31. Locking mechanism one; 32. Locking mechanism two; 4. Bone screw locking mechanism; 5. Guide sleeve; 6. Positioner; 7. Guide needle; 8. Bone screws 9. Control panel; 10. Bearings. Detailed Implementation

[0029] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0030] Example 1

[0031] like Figure 1 and 2 As shown, this embodiment provides an end effector for an orthopedic surgical navigation robot, including: a support structure 1 and a dual-output shaft servo motor 2, a guide pin locking mechanism 3, a bone screw locking mechanism 4, and a guide sleeve 5 arranged coaxially in sequence; The supporting structure 1 is equipped with a positioner 6, which is used to connect the robotic arm and ensure the stable installation of the end effector. The dual-axis servo motor 2 is fixedly connected to the bearing structure 1. The output shaft has a first through hole that extends axially through the shaft. The first through hole is used to accommodate the guide pin 7 passing through. The motor can output precise forward and reverse rotation speed, acceleration and number of revolutions to provide power for the rotation of the guide pin 7 and the bone screw 8. The guide pin locking mechanism 3 is fixedly installed at one end of the output shaft and is used to lock or unlock the guide pin 7; The bone screw locking mechanism 4 is rotatably connected to the bearing structure 1 and is drivenly connected to the output shaft to achieve synchronous rotation. A bone screw mounting structure is provided at the end away from the output shaft. The bone screw mounting structure is used to detachably connect the bone screw 8 and realize the synchronous rotation of the bone screw 8 and the bone screw locking mechanism 4. The bone screw locking mechanism 4 is provided with an axially penetrating second through hole. The second through hole is used to accommodate the guide pin 7 passing through. The guide sleeve 5 is detachably connected to the bearing structure 1 to constrain the feeding direction of the guide pin 7 and the bone nail 8, ensuring the consistency of the axis; It also includes a marking component, the axis of the guide sleeve 5 is fixed to the geometric relationship of the marking component, and is used to provide a positioning reference for the robot; It also includes a control board 9, which is electrically connected to the dual-axis servo motor 2 and the guide pin locking mechanism 3. It is used to control the forward and reverse speed, acceleration and number of revolutions of the dual-axis servo motor 2, and to control the locking or unlocking of the guide pin locking mechanism 3, so as to realize the automated control of the actuator.

[0032] Specifically, the integrated design of the coaxially arranged dual-axis servo motor 2, guide pin locking mechanism 3, bone screw locking mechanism 4, and guide sleeve 5 achieves a compact layout of the end effector. The first through hole of the dual-axis servo motor 2 and the second through hole of the bone screw locking mechanism 4 are compatible with the insertion of the guide pin 7, ensuring the consistency of the axis between the guide pin 7 and the bone screw 8. The fixed geometric relationship between the marking component and the axis of the guide sleeve 5 provides a stable positioning reference for the navigation system. The detachable connection of the guide sleeve 5 is used to install the bone screw 8, and the control board 9 is electrically connected to the actuator to achieve automated control. This structure solves the problems of traditional end effectors being scattered, the axis misalignment of the guide pin 7 and the bone screw 8, and the reliance on manual operation, improving the coaxiality and automation of bone screw 8 implantation.

[0033] Optionally, the guide pin locking mechanism 3 includes: Locking mechanism 31 includes a three-jaw chuck and a tapered sleeve. The three-jaw chuck is coaxially and fixedly connected to the output shaft. The tail of the three-jaw chuck includes an outer tapered surface and a cylindrical section. The cylindrical section is provided with an external thread. The inner hole of the tapered sleeve includes an inner tapered surface section and an internal thread section. The internal thread section is engaged with the external thread of the three-jaw chuck, and the inner tapered surface section is engaged with the outer tapered surface of the three-jaw chuck. Locking mechanism 2 32 is fixedly installed on the bearing structure 1 and has a telescopic push rod. The end of the push rod is used to cooperate with the cylindrical groove on the outer circumference of the cone sleeve to limit the circumferential movement of the cone sleeve. Locking mechanism 2 32 is electrically connected to the control board 9, and the control board 9 controls the action of the push rod.

[0034] The locking logic of the guide pin 7 clamping assembly is as follows: the push rod of the second locking mechanism 32 extends and cooperates with the groove of the conical sleeve to achieve circumferential limiting; the first locking mechanism 31 drives the conical sleeve to move axially through the forward rotation of the dual-output shaft servo motor 2, squeezing the three-jaw chuck to radially contract and clamp the guide pin 7; after confirming that the locking is in place by the resistance feedback signal monitored by the torque sensor, the second locking mechanism 32 releases the conical sleeve. The release logic of guide pin 7 is as follows: the push rod of locking mechanism 2 32 extends and cooperates with the groove of the conical sleeve to achieve circumferential limit. Locking mechanism 1 31 drives the conical sleeve to move axially by rotating in the opposite direction through the dual output shaft servo motor 2. The conical sleeve releases the three-jaw chuck, and the three-jaw chuck expands radially to release guide pin 7. In this embodiment, the push rod end of the locking mechanism 2 32 is provided with a hemispherical elastic head. The hemispherical elastic head has a fault correction function, which can automatically adjust the alignment by the force between the hemispherical head and the end face of the locking ring when the push rod is not aligned with the groove.

[0035] Specifically, locking mechanism 31 is existing technology, widely used in the installation structure of electric drill bits, so its specific structure is not shown in the attached diagram. It adopts a three-jaw chuck and a tapered sleeve cooperation structure, and uses threaded transmission to drive the tapered surface to compress, achieving reliable clamping of the guide pin 7. The push rod of locking mechanism 32 cooperates with the groove of the tapered sleeve to achieve circumferential limiting, preventing the tapered sleeve from rotating with the three-jaw chuck and ensuring locking stability. The control board 9 automatically controls the push rod action to automate the locking and unlocking of the guide pin 7. This structure solves the problems of easy slippage and manual operation required by the traditional guide pin locking mechanism 3, and improves the reliability of guide pin 7 clamping and the degree of automation.

[0036] Optionally, the other end of the bone screw locking mechanism 4 is fixedly connected to the guide pin locking mechanism 3 to achieve synchronous rotation.

[0037] Specifically, the fixed connection between the bone screw locking mechanism 4 and the guide pin locking mechanism 3 enhances the coaxiality of their synchronous rotation, reduces errors in the transmission links, and ensures that the axial height of the bone screw 8 and the guide pin 7 are consistent. This design solves the problem of bone screw 8 offset caused by asynchronous transmission of multiple components, further improving the accuracy of bone screw 8 implantation.

[0038] Optionally, the bone screw installation structure includes: A polygonal groove is provided at the end of the bone screw locking mechanism 4 away from the output shaft, and is used to cooperate with the polygonal head of the bone screw 8 to realize the synchronous rotation of the bone screw 8 and the bone screw locking mechanism 4; Multiple steel balls are set in the inner circumference of the polygonal groove and connected to the polygonal groove by a spring. The multiple steel balls are used to fit tightly with the multiple hemispherical grooves on the outer circumference of the nail head, so as to realize the detachable connection between the bone nail 8 and the bone nail installation structure.

[0039] Specifically, in the bone screw installation structure, the polygonal groove mates with the polygonal head of the bone screw 8 to ensure synchronous rotation of the bone screw 8 and the locking mechanism; the steel ball is connected to the polygonal groove via a spring, achieving a detachable and tight connection of the bone screw 8, preventing slippage during rotation and allowing for quick installation and removal of the bone screw 8. This structure solves the problems of unreliable connection and cumbersome installation and removal operations of traditional bone screw 8, improving the stability and ease of operation of the bone screw 8 connection.

[0040] Alternatively, the marking component may be a tracer ball, a reflective marker, or an electromagnetic sensor.

[0041] Specifically, the marking component supports various types such as tracer balls, reflective markers, and electromagnetic sensors, making it compatible with different types of orthopedic surgical navigation systems and ensuring the stability of the positioning reference and system compatibility. This design solves the problem of poor adaptability of a single marking method and improves the compatibility of the end effector with different navigation devices.

[0042] In this embodiment, the supporting structure 1 includes a housing, with an upper mounting plate 11 fixedly mounted on the upper part of the housing. The upper mounting plate 11 is horizontally arranged, and the housing 15 of the dual-output shaft servo motor 2 is fixedly connected to the lower surface of the upper mounting plate 11. The upper end of the output shaft is rotatably disposed within the upper mounting plate 11. Both the top wall of the housing and the upper mounting plate 11 are provided with holes for inserting the guide pin 7. A lower mounting plate 12 is fixedly mounted on the lower part of the housing. The lower mounting plate 12 is horizontally arranged, and the bone screw locking mechanism 4 is rotatably connected to the lower mounting plate 12 via a bearing 10. One end of the bone screw locking mechanism 4 extends through the lower mounting plate 12 and the bottom wall of the housing to the outside of the housing. The upper mounting plate 1 A middle mounting plate 13 is fixedly installed between the upper mounting plate 11 and the lower mounting plate 12. The middle mounting plate 13 is vertically installed, with its upper end fixedly connected to the upper mounting plate 11, and its lower end fixedly connected to the lower mounting plate 12. The fixed end of the locking mechanism 2 32 is fixedly connected to the vertical mounting plate. The guide sleeve 5 is detachably connected to the housing via an L-shaped support rod 14. The L-shaped support rod 14 ensures that the guide sleeve 5 and the bone screw locking mechanism 4 are coaxial while avoiding other components. The L-shaped support rod 14 can be detachably connected to the housing by means of bolts or other methods. The positioner 6 passes through the top wall of the housing and is fixedly connected to the upper mounting plate 11. The control plate 9 is fixedly installed on the upper mounting plate 11.

[0043] Example 2

[0044] This embodiment provides an automated nailing system for orthopedic surgical navigation robots, including: The end effector in Example 1; The navigation and positioning module is used to acquire three-dimensional image data of the patient's bony structure, provide a preoperative or intraoperative planning interface, generate the target three-dimensional trajectory and endpoint position of the guide pin 7 or bone nail 8, and send the planned trajectory data to the control unit. The robotic arm module has multiple degrees of freedom. The end effector is installed on the robotic arm module. The robotic arm module is used to move the end effector to the target position and attitude in the navigation coordinate system, and to perform coordinate registration and calibration with the navigation and positioning module to ensure the consistency between the robotic arm movement and the image space. The sensor feedback module is used to monitor the rotational torque, feed resistance, feed position and feed depth of the guide pin 7 or bone nail 8 during the insertion process, providing data support for closed-loop control. The control and safety interlock module is used for closed-loop control based on the navigation trajectory, robotic arm status, and feedback data from the sensor feedback module. It provides force threshold, torque threshold, and displacement threshold settings, executes anomaly detection logic, and is equipped with a doctor's hand control interface and foot switch. The doctor's hand control interface and foot switch are linked with the robotic arm module and are operated by authorized doctors.

[0045] In this embodiment

[0046] The sensor feedback module estimates the rotational torque during the insertion of the guide pin 7 or bone screw 8 through a torque sensor or motor current detection module. The feed resistance during the insertion of the guide pin 7 or bone screw 8 is measured using an axial force sensor. The feed position and feed depth during the insertion of the guide pin 7 or bone screw 8 are measured by a displacement sensor or encoder.

[0047] Specifically, through the coordinated operation of the end effector, navigation and positioning module, robotic arm module, sensor feedback module, and control and safety interlock module, the entire process of trajectory planning, precise pose adjustment, automated implantation, real-time monitoring, and safety control is fully automated. Navigation and positioning, along with robotic arm registration, ensure pose accuracy, sensor feedback provides real-time data support, and the control module achieves closed-loop control. This system solves the problems of low automation, reliance on manual operation, and insufficient precision in traditional surgical systems, improving the accuracy, efficiency, and safety of bone screw implantation.

[0048] Optionally, the anomaly detection logic of the control and safety interlock module includes: when the measured axial force exceeds the set force threshold (800N) or the torque exceeds the set torque threshold (3N)... When m), the injection operation will be automatically paused and an alarm will be triggered; When the insertion depth of the guide needle 7 or bone nail 8 exceeds the set displacement threshold, the feed is forcibly stopped; When navigation markers are lost, tracking accuracy does not meet requirements, or registration status is abnormal, feed will be forcibly stopped.

[0049] Specifically, a multi-dimensional anomaly detection logic based on force threshold, torque threshold, displacement threshold, and navigation status is constructed to establish a multi-layered safety protection system: suspension due to excessive force or torque prevents bone damage; forced stop due to excessive depth prevents damage to surrounding tissues; and navigation anomaly shutdown avoids positioning deviations. This design solves the problem of traditional systems lacking active safety protection, significantly reducing safety risks during surgery.

[0050] Example 3

[0051] This embodiment provides an automated nailing method based on the automated nailing system in Embodiment 2, including a guide pin + automatic nailing mode, such as... Figure 3 As shown, the steps are as follows: S1.1 The navigation and positioning module acquires three-dimensional images of the bony structure of the patient's target bone segment and performs spatial registration. The doctor plans the trajectory of the guide needle 7 and bone nail 8. The robotic arm module aligns the guide sleeve 5 of the end effector with the trajectory entry point and direction. S1.2 After the doctor authorizes the guide needle through the hand control interface or foot switch, the control board 9 controls the guide needle locking mechanism 3 to lock the guide needle 7, the dual-axis servo motor 2 drives the guide needle 7 to rotate, the robotic arm module controls the axial feed of the guide needle 7, the sensor feedback module monitors the torque and axial force in real time, automatically decelerates when passing through the bone cortex, and stops after reaching the target depth. The doctor confirms the position of the guide needle 7 through imaging. S1.3. Insert the bone screw 8 into the guide pin 7 and install it on the bone screw locking mechanism 4. After the doctor authorizes, the control board 9 controls the guide pin locking mechanism 3 to unlock the guide pin 7. The dual-axis servo motor 2 drives the bone screw 8 to rotate. The robotic arm module controls the bone screw 8 to feed along the guide pin 7. When the torque reaches the preset locking range, it will stop automatically. The doctor confirms the fixation effect through imaging. S1.4 If multiple bone screws are needed for fixation, repeat steps S1.1-S1.3.

[0052] Specifically, the guide pin + automatic screw-in mode automates the entire process of locking the guide pin 7, automatically rotating and inserting it, installing the bone screw 8, and automatically screwing it in, reducing errors caused by manual operation. The sensor feedback module monitors parameters in real time and automatically decelerates when passing through the bone cortex, ensuring the stability of the implantation process. This mode solves the problems of large errors and cumbersome procedures in manual screw-in, improving the accuracy and surgical efficiency of bone screw 8 implantation.

[0053] Optionally, the automated nailing method also includes a needle-free direct nailing mode, such as... Figure 4 As shown, the steps are as follows: S2.1 The navigation and positioning module acquires a three-dimensional image of the bony structure of the patient's target bone segment. The doctor directly uses the geometric axis of bone nail 8 as the planning object to define the entry point and the end point and generate the trajectory. S2.2 The robotic arm module adjusts the guide sleeve 5 to be coaxial with the trajectory based on the trajectory data, and the navigation and positioning module tracks the position of the bone nail 8 in real time based on the position of the marker component; S2.3 After the doctor authorizes the system, it first feeds a small distance in a trial drilling manner. After confirming that the trajectory is normal, it drives the bone nail 8 to rotate and feed at the set speed. The sensor feedback module monitors the torque, feed resistance, feed position and feed depth in real time. If there is an abnormality, it will automatically decelerate or stop. S2.4 When the bone nail 8 approaches the preset range of the planned endpoint, it decelerates precisely and stops nailing when it reaches the preset depth or torque threshold. The doctor can interrupt the operation or make fine adjustments by using a foot switch.

[0054] Specifically, the guide-free direct nailing mode omits the steps of guide pin 7 implantation and confirmation, streamlining the surgical procedure; exploratory drilling and real-time parameter monitoring ensure the accuracy of the bone nail 8 trajectory; and the elimination of fluoroscopic confirmation related to guide pin 7 reduces surgical radiation dose. This mode solves the problems of redundancy and high radiation exposure associated with the traditional guide pin 7 procedure, improving surgical efficiency and patient safety.

[0055] Optionally, in step S1.2, the feed rate of the guide needle 7 during insertion is automatically adjusted according to the force and torque characteristics detected by the sensor feedback module, and the feed rate is reduced to 30%-50% of the initial rate when penetrating the cortical bone. In S2.3, the feed distance for exploratory drilling is 3-8 mm, and the feed rate is 0.5-1 mm / s.

[0056] Specifically, the feed rate is dynamically adjusted based on force and torque characteristics to ensure the stability of the guide pin 7 when it passes through the bone cortex and to prevent guide pin 7 from deviating due to excessive speed. The small-distance, low-speed feed during exploratory drilling further verifies the accuracy of the trajectory. This design solves the problem of implantation deviation or bone damage caused by a single feed rate, and improves the accuracy and safety of bone screw 8 implantation.

[0057] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An end effector for a navigation robot in orthopedic surgery, characterized in that, comprising: The load-bearing structure (1) and the dual output shaft servo motor (2), guide pin locking mechanism (3), bone nail locking mechanism (4), and guide sleeve (5) are arranged coaxially in sequence. The supporting structure (1) is provided with a positioner (6), which is used to connect the robotic arm; The dual-output-axis servo motor (2) is fixedly connected to the bearing structure (1), and the output shaft is provided with a first through hole that penetrates axially. The first through hole is used to accommodate the guide pin (7) passing through. The guide pin locking mechanism (3) is fixedly installed at one end of the output shaft and is used to lock or unlock the guide pin (7). The bone screw locking mechanism (4) is rotatably connected to the bearing structure (1) and is drivenly connected to the output shaft to achieve synchronous rotation. A bone screw mounting structure is provided at one end away from the output shaft. The bone screw mounting structure is used to detachably connect the bone screw (8) and realize the synchronous rotation of the bone screw (8) and the bone screw locking mechanism (4). The bone screw locking mechanism (4) is provided with an axially penetrating second through hole. The second through hole is used to accommodate the guide pin (7) passing through. The guide sleeve (5) is detachably connected to the bearing structure (1) to constrain the feeding direction of the guide pin (7) and the bone nail (8); It also includes a marking component, wherein the axis of the guide sleeve (5) is fixed to the geometric relationship of the marking component, and is used to provide a positioning reference for the robot; It also includes a control board (9), which is electrically connected to the dual-axis servo motor (2) and the guide pin locking mechanism (3), and is used to control the forward and reverse speed, acceleration and number of revolutions of the dual-axis servo motor (2), and to control the locking or unlocking of the guide pin locking mechanism (3).

2. The end effector for an orthopedic surgical navigation robot according to claim 1, characterized in that, The guide pin locking mechanism (3) includes: Locking mechanism 1 (31) includes a three-jaw chuck and a tapered sleeve. The three-jaw chuck is coaxially and fixedly connected to the output shaft. The tail of the three-jaw chuck includes an outer tapered surface and a cylindrical section. The cylindrical section is provided with an external thread. The inner hole of the tapered sleeve includes an inner tapered surface section and an inner thread section. The inner thread section is engaged with the external thread of the three-jaw chuck, and the inner tapered surface section is engaged with the outer tapered surface of the three-jaw chuck. Locking mechanism two (32) is fixedly installed on the bearing structure (1) and has a telescopic push rod. The end of the push rod is used to cooperate with the cylindrical groove on the outer periphery of the cone sleeve to limit the circumferential movement of the cone sleeve. Locking mechanism two (32) is electrically connected to the control board (9) and the control board (9) controls the push rod to move.

3. The end effector for an orthopedic surgical navigation robot according to claim 1, characterized in that, The other end of the bone nail locking mechanism (4) is fixedly connected to the guide pin locking mechanism (3) to achieve synchronous rotation.

4. The end effector for an orthopedic surgical navigation robot according to claim 1, characterized in that, The bone screw mounting structure includes: A polygonal groove is provided at one end of the bone screw locking mechanism (4) away from the output shaft, for cooperating with the polygonal head of the bone screw (8) to realize the synchronous rotation of the bone screw (8) and the bone screw locking mechanism (4); Multiple steel balls are disposed on the inner circumference of the polygonal groove and connected to the polygonal groove by a spring. The multiple steel balls are used to tightly cooperate with the multiple hemispherical grooves on the outer circumference of the nail head to realize the detachable connection between the bone nail (8) and the bone nail mounting structure.

5. The end effector for an orthopedic surgical navigation robot according to claim 1, characterized in that, The marking component is a tracer ball, a reflective marker, or an electromagnetic sensor.

6. An automated nail-implanting system for orthopedic surgical navigation robots, characterized in that, include: The end effector according to any one of claims 1-5; The navigation and positioning module is used to acquire three-dimensional image data of the patient's bony structure, provide a preoperative or intraoperative planning interface, generate the target three-dimensional trajectory and endpoint position of the guide pin (7) or bone nail (8), and send the planning trajectory data to the control unit. The robotic arm module has multiple degrees of freedom. The end effector is mounted on the robotic arm module. The robotic arm module is used to move the end effector to the target position and attitude in the navigation coordinate system and to perform coordinate registration and calibration with the navigation and positioning module. The sensor feedback module is used to monitor the rotational torque, feed resistance, feed position and feed depth of the guide pin (7) or bone nail (8) during the insertion process; The control and safety interlock module is used for closed-loop control based on the navigation trajectory, the status of the robotic arm, and feedback data from the sensor feedback module. It provides force threshold, torque threshold, and displacement threshold settings, executes anomaly detection logic, and is equipped with a doctor's hand control interface and a foot switch. The doctor's hand control interface and the foot switch are linked with the robotic arm module.

7. The automated nailing system according to claim 6, characterized in that, The abnormal detection logic of the control and safety interlock module includes: when the measured axial force exceeds the set force threshold or the torque exceeds the set torque threshold, the driving operation is automatically paused and an alarm is triggered; When the insertion depth of the guide needle (7) or bone screw (8) exceeds the set displacement threshold, the feeding is forcibly stopped; When navigation markers are lost, tracking accuracy does not meet requirements, or registration status is abnormal, feed will be forcibly stopped.

8. An automated nailing method, based on the automated nailing system of claim 6 or 7, characterized in that, Including the guide needle + automatic staple mode, the steps are as follows: S1.1 The navigation and positioning module acquires the three-dimensional image of the bone structure of the target bone segment of the patient and performs spatial registration. The doctor plans the trajectory of the guide needle (7) and bone nail (8). The robotic arm module aligns the guide sleeve (5) of the end effector with the trajectory entry point and direction. S1.2 After the doctor authorizes the guide needle through the hand control interface or foot switch, the control board (9) controls the guide needle locking mechanism (3) to lock the guide needle (7), the dual-axis servo motor (2) drives the guide needle (7) to rotate, the robotic arm module controls the axial feed of the guide needle (7), the sensor feedback module monitors the torque and axial force in real time, automatically decelerates when passing through the bone cortex, and stops after reaching the target depth. The doctor confirms the position of the guide needle (7) through the image. S1.

3. Insert the bone screw (8) into the guide pin (7) and install it on the bone screw locking mechanism (4). After the doctor authorizes, the control board (9) controls the guide pin locking mechanism (3) to unlock the guide pin (7). The dual-axis servo motor (2) drives the bone screw (8) to rotate. The robotic arm module controls the bone screw (8) to feed along the guide pin (7). When the torque reaches the preset locking range, it will stop automatically. The doctor confirms the fixation effect through the image. S1.4 If multiple bone screws (8) are required for fixation, repeat steps S1.1-S1.

3.

9. The automated nailing method according to claim 8, characterized in that, It also includes a needle-free (7) direct nailing mode, the steps of which are as follows: S2.1 The navigation and positioning module obtains three-dimensional images of the bony structure of the patient's target bone segment. The doctor directly uses the geometric axis of the bone nail (8) as the planning object, defines the entry point and the end point position and generates the trajectory. S2.2 The robotic arm module adjusts the guide sleeve (5) to be coaxial with the trajectory according to the trajectory data, and the navigation and positioning module tracks the position of the bone nail (8) in real time according to the position of the marker component; S2.3 After the doctor authorizes, the system first feeds a small distance in a trial drilling manner. After confirming that the trajectory is normal, it drives the bone nail (8) to rotate and feed at the set speed. The sensor feedback module monitors the torque, feed resistance, feed position and feed depth in real time. If there is an abnormality, it will automatically decelerate or stop. S2.4 When the bone nail (8) approaches the preset range of the planned endpoint, it decelerates finely and stops nailing when the preset depth or torque threshold is reached. The doctor can interrupt the operation or make fine adjustments by using the foot switch.

10. The automated nailing method according to claim 8, characterized in that, In step S1.2, the feed rate of the guide needle (7) during insertion is automatically adjusted according to the force and torque characteristics detected by the sensor feedback module. When penetrating the cortical bone, the feed rate is reduced to 30%-50% of the initial rate. In S2.3, the feed distance for exploratory drilling is 3-8 mm, and the feed rate is 0.5-1 mm / s.

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