Bone nail, bone nail assembly and surgical robot

Abstract

The utility model provides a bone nail, a bone nail assembly and a surgical robot. The bone nail comprises a body and a locking piece. A self-tapping thread is arranged at the front end of the body, a transmission structure is arranged at the rear end of the body, and the body is further provided with a first through hole penetrating through the body from the front end to the rear end. The locking piece is used for being installed at the rear end of the body to seal the first through hole. According to the bone nail, a plurality of bone nails can be conveniently and adjacently implanted, and the requirements of multi-electrode implantation, multi-fiber ablation and other scenes where the bone nails need to be densely implanted are met; the bone nail implantation device can be matched with a screwing piece and a surgical robot to stably and accurately implant a bone nail in the planned direction, implantation direction deviation caused by hand shaking and uneven force application is avoided, the implantation direction of the bone nail does not need to be corrected many times, extra wounds are reduced, and the infection risk is reduced through a locking piece.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular to a bone screw, a bone screw assembly and a surgical robot. Background Art

[0002] Skull nails with channels can provide channels for medical devices such as puncture needles, biopsy needles, drainage tubes, electrodes, ablation optical fibers, sensors and other slender components to enter the skull, and play a guiding and protective role for medical devices. The implantation (position, direction) accuracy of the skull nail directly affects the accuracy of related operations, such as the accuracy of the biopsy sampling position, the accuracy of the EEG measurement position, and the accuracy of the ablation site.

[0003] Skull screws in the prior art usually use rotor screws. After drilling the skull hole, the front end of the rotor screw is aligned with the skull hole (i.e., the screw channel), and then the doctor screws the front end of the screw into the skull hole by twisting the rotor. During the implantation of the screw, the position and direction of the screw are limited only by the "channel" of the skull hole. The implantation direction of the screw is difficult to control accurately, and the manual operation of twisting the rotor may cause shaking and uneven force, which inevitably causes radial deviation in the implantation direction of the screw. Secondly, in some application scenarios, multiple skull screws need to be implanted adjacent to each other, such as monitoring the EEG of multiple adjacent positions, ablating larger lesions through multiple optical fibers, etc. At this time, the rotors of the multiple adjacent implanted screws will interfere with each other, causing trouble to the implantation process.

[0004] In view of the above-mentioned defects in the prior art, the present invention provides a bone screw, a bone screw assembly and a surgical robot. Utility Model Content

[0005] The utility model provides a bone screw, a bone screw assembly and a surgical robot, which are used to solve the defects in the prior art that the bone screw implantation accuracy is low and adjacent bone screws interfere with each other when the bone screws are implanted adjacently.

[0006] The utility model provides a bone nail, comprising: a body and a locking piece;

[0007] According to a bone screw provided by the utility model, the front end of the body is provided with a self-tapping thread, the rear end of the body is provided with a transmission structure, and the body is also provided with a first through hole that passes through the front end to the rear end of the body;

[0008] The locking member is used to be installed on the rear end of the body to close the first through hole.

[0009] According to a bone screw provided by the utility model, the locking member includes a first embedded portion embedded in the rear end of the body in the installed state, the first embedded portion is provided with a slender component channel coaxial with the first through hole, and in the installed state, the first embedded portion is squeezed and contracted to clamp the slender component passing through the slender component channel.

[0010] According to a bone screw provided by the utility model, the bone screw further includes a sealing pad, and the locking member is provided with a slender member channel coaxial with the first through hole;

[0011] In the installed state, the slender member passes through the slender member channel and the central hole of the sealing gasket, and the sealing gasket expands radially under the compression of the locking member and the body to clamp the slender member.

[0012] According to a bone screw provided by the utility model, the body is further provided with a receiving cavity coaxial with the first through hole, the sealing gasket is arranged in the receiving cavity, and after the locking member is installed to the rear end of the body, the portion thereof embedded in the first through hole squeezes the sealing gasket;

[0013] Alternatively, the locking member is a locking cap, the sealing gasket is arranged on the locking cap side, and the rear end of the body squeezes the sealing gasket.

[0014] According to a bone screw provided by the utility model, a slot is provided inside the locking cap, and the sealing gasket is arranged in the slot. According to a bone screw provided by the utility model, an internal thread is provided at the rear end of the body, and the locking member is a screw plug, or the locking member is a nut provided with a threaded column;

[0015] Or, the rear end of the body is provided with an external thread, and the locking member is a nut with an internal thread provided on the brim;

[0016] Alternatively, a clamping structure is provided at the rear end of the body, and the locking member is mounted to the rear end of the body via the clamping structure.

[0017] According to a bone screw provided by the utility model, the transmission structure is a columnar structure whose outer contour is a non-rotating body, or a groove structure whose inner contour is a non-rotating body.

[0018] The utility model also provides a bone screw assembly, comprising: a bone screw, a guide, and a screwing member;

[0019] The bone screw comprises a body and a locking member, the front end of the body is provided with a self-tapping thread, the rear end of the body is provided with a transmission structure, the body is further provided with a first through hole that passes through the front end to the rear end of the body, and the locking member is used to be installed at the rear end of the body to close the first through hole;

[0020] The guide includes a second through hole;

[0021] The screwing member includes a screwing portion, a guide portion, and a transmission portion, and the shape of the transmission portion is adapted to the transmission structure of the bone screw; in a state of use, the guide portion passes through the second through hole, and the transmission portion cooperates with the transmission structure of the bone screw, and the bone screw can be implanted into a target position along the guiding direction of the guide by twisting the screwing portion.

[0022] According to a bone screw assembly provided by the utility model, the guide is used to be installed in a positioning channel provided by an auxiliary positioning device.

[0023] According to a bone screw assembly provided by the utility model, the auxiliary positioning device is a surgical robot or a stereotactic head frame.

[0024] According to a bone screw assembly provided by the utility model, the guide includes a limiting portion and a second embedding portion;

[0025] The shape of the second embedded portion is adapted to the shape of the positioning channel;

[0026] The limiting portion is used to limit the depth of the guide installed in the positioning channel.

[0027] According to a bone screw assembly provided by the utility model, the guide further includes a first extending portion, and the second through hole passes through the limiting portion, the second embedding portion, and the first extending portion.

[0028] According to a bone screw assembly provided by the utility model, the guide is further provided with a locking hole for fixing the guide in cooperation with a fixing piece after the guide is installed in the positioning channel.

[0029] According to a bone screw assembly provided by the utility model, the front end of the screwing member further includes a second extending portion extending along the axial direction, and in a use state, the second extending portion is embedded in the first through hole.

[0030] According to a bone screw assembly provided by the utility model, the screwing member further comprises a limiter, and the limiter is fixed to the guide portion of the screwing member in an adjustable position.

[0031] According to a bone screw assembly provided by the utility model, the bone screw assembly also includes a stepper, and the rear end of the guide also includes a mounting portion, the stepper is mounted to the rear end of the guide through the mounting portion, and the stepper can adjust the position of its rear end face.

[0032] The utility model also provides a surgical robot, comprising: any one of the aforementioned bone screw implantation components.

[0033] The bone screw, bone screw assembly and surgical robot provided by the utility model have at least the following beneficial effects:

[0034] 1. The first through hole of the bone screw body provides a channel for slender components such as puncture needles, biopsy needles, drainage tubes, monitoring electrodes, ablation optical fibers, and data cables of intracranial pressure sensors to enter the skull. The bone screw is not provided with a rotor, so even if the bone screws are implanted adjacently, they will not interfere with each other, thus expanding the scope of application of the bone screw (especially for scenarios such as multi-electrode implantation and multi-optical fiber ablation);

[0035] 2. The transmission structure can cooperate with the screwing parts, guides and surgical robots to accurately implant the bone screws into the target position according to the planned direction, with extremely high implantation position accuracy and angle accuracy;

[0036] 3. The sealing gasket and locking piece not only ensure the normal function of the medical device, but also play a double barrier role in contacting the intracranial environment and the extracorporeal environment, greatly reducing the risk of infection; the accommodating cavity or card slot prevents the sealing gasket from falling off, thus improving the convenience of use;

[0037] 4. The guide can stably maintain the direction of bone screw implantation with the assistance of positioning auxiliary devices such as surgical robots. The screw member passes through the second through hole of the guide and drives the transmission structure of the bone screw to rotate through the transmission part, so that the bone screw can be stably and accurately implanted into the skull hole along the planned direction, which can avoid the implantation direction deviation caused by hand shaking and uneven force. There is no need to correct the implantation direction of the bone screw multiple times during the bone screw implantation process, reducing additional trauma to the patient;

[0038] 5. The first extension portion of the guide can enhance the guiding effect on the screwing member, and the second extension portion of the screwing member can be inserted into the first through hole of the bone screw to enhance the guiding effect on the bone screw, both of which enhance the implantation accuracy of the bone screw.

[0039] 6. By setting a locking hole on the guide, the stability of the guide during the implantation of the bone screw can be improved. The limiter set on the screw and the stepper set on the guide can accurately control the implantation depth of the bone screw to avoid instability of the bone screw due to shallow implantation and to avoid additional damage to the patient due to excessive implantation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 This is one of the cross-sectional structural schematic diagrams of a bone nail provided by the utility model;

[0042] Figure 2 yes Figure 1 A three-dimensional schematic diagram of a bone nail is shown;

[0043] Figure 3 This is one of the structural schematic diagrams of a locking member in a bone screw provided by the utility model;

[0044] Figure 4 This is the second structural schematic diagram of a locking member in a bone screw provided by the utility model;

[0045] Figure 5 This is the third structural schematic diagram of a locking member in a bone screw provided by the utility model;

[0046] Figure 6 This is one of the schematic diagrams of the main structure of a bone screw provided by the utility model;

[0047] Figure 7 This is the second schematic diagram of the main structure of a bone screw provided by the utility model;

[0048] Figure 8 This is the third schematic diagram of the partial structure of a bone nail provided by the utility model;

[0049] Fig. 9 It is a structural schematic diagram of a bone screw assembly provided by the utility model;

[0050] Fig.10 It is a structural schematic diagram of a screwing member in a bone screw assembly provided by the utility model;

[0051] Fig.11 This is a schematic diagram of the structure of a guide of a bone screw assembly provided by the utility model in conjunction with the end of a surgical robot;

[0052] Fig.12 It is a structural schematic diagram of a guide of a bone screw assembly provided by the utility model;

[0053] Fig.13 It is a structural schematic diagram of the end of a screwing member in a bone screw assembly provided by the utility model;

[0054] Fig.14 The utility model is a schematic diagram of the structure of a surgical robot. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0056] Combine the following Figure 1-Figure 14 The utility model describes a bone screw, a bone screw assembly and a surgical robot.

[0057] Figure 1 This is one of the cross-sectional structural diagrams of a bone nail provided by the utility model. Figure 2 is the corresponding stereoscopic view, such as Figure 1 , Figure 2 As shown, the bone screw includes a body 10 and a locking member 16. The front end of the body 10 is provided with a self-tapping thread 11, and the rear end of the body 10 is provided with a transmission structure 12 ( Figure 1 Only the transmission structure of the hexagonal socket is shown), the body 10 further includes a first through hole 13 that passes through the front end to the rear end of the body;

[0058] Specifically, the front end of the body 10 is the implantation end close to the skull, and the front end of the body 10 has a self-tapping thread. When implanting the bone screw, the front end of the body 10 is aligned with the skull hole or the undrilled skull target position, and the rear end of the body 10 is the non-implantation end away from the skull. The transmission structure 12 at the rear end of the body 10 cooperates with the installation tool, and the body 10 can be installed in the skull hole by rotating the installation tool. The installation tool can be fixed in the implantation direction of the bone screw with the assistance of the positioning system, so that the bone screw can be accurately implanted into the desired position, reducing the implantation (position, direction) deviation of the bone screw. The body 10 also includes a first through hole 13 that runs from the front end to the rear end, which is used to pass a slender member (i.e., a slender medical device), such as a puncture needle, a biopsy needle, a drainage tube, a monitoring electrode, an ablation optical fiber, a data line of an intracranial pressure sensor, and the like.

[0059] In addition, the locking member 16 can be installed to the rear end of the main body 10, for example, by being installed to the rear end of the main body 10 through a thread, or by being installed to the rear end of the main body 10 through a snap-on structure, thereby sealing and blocking the first through hole 13 in the main body 10, avoiding contact between the intracranial environment and the extracorporeal environment, and greatly reducing the risk of infection.

[0060] In the utility model, the first through hole of the bone screw body can provide a passage for slender components such as puncture needles, biopsy needles, drainage tubes, monitoring electrodes, ablation optical fibers, and data cables of intracranial pressure sensors to enter the skull; the bone screw has no rotor structure, and the bone screws will not interfere with each other, which is convenient for implanting multiple bone screws in close proximity, meeting the scenarios of multi-electrode implantation, multi-fiber ablation, etc. that require dense implantation of bone screws; the transmission structure can cooperate with the screwing part, the guide and the surgical robot to accurately implant the bone screw into the target position according to the planned direction, with extremely high implantation position accuracy and angle accuracy; the locking part seals and blocks the contact between the intracranial environment and the extracorporeal environment, reducing the risk of infection.

[0061] Reference Figure 3 Based on the above embodiment, in one embodiment, the locking member 16 includes a first embedded portion 161, and the first embedded portion 161 is provided with a slender member channel 162. The slender member channel 162 is coaxial with the first through hole 13 in the use state. In the installed state, the first embedded portion 161 is embedded in the rear end of the body 10, and the first embedded portion 161 is squeezed and contracted, clamping the slender member passing through the slender member channel 162 to prevent the slender member from displacement and rotation, thereby avoiding causing damage to the patient or causing the EEG monitoring point to shift, the intracranial pressure monitoring point to change, etc., and also ensuring the sealing performance when passing through the slender member, reducing the risk of infection. It can be understood that in this embodiment, the locking member 16 is made of plastic material, which is convenient for deformation under extrusion, such as silicone, nitrile rubber, styrene-butadiene rubber, butyl rubber, polyisoprene rubber and the like.

[0062] Further, still refer to Figure 3 The contact surface between the first embedded portion 161 and the rear end of the body 10 is a conical surface. After the locking member 16 is installed on the body 10, the body 10 squeezes the first embedded portion 161 through the conical surface so that the slender member passage 162 clamps the slender member passing therethrough to form a seal. Preferably, the taper of the conical surface is less than 8% so as to form a self-locking conical surface to prevent the locking member 16 from loosening and falling off.

[0063] Furthermore, the first embedded portion 161 is a threaded plug, and the rear end of the body 10 is provided with a matching internal thread, which facilitates the installation of the locking member 16 to the rear end of the body 10, and improves the installation stability and sealing. Of course, the first embedded portion 161 can also be assisted to be installed to the rear end of the body 10 in other ways, for example, the locking member 16 also includes a brim, the brim is provided with an internal thread, and the locking member 16 is installed to the rear end of the body 10 by matching with the external thread of the rear end of the body 10, or for another example, the locking member 16 also includes a brim, the brim is provided with a snap-fit ​​structure (annular groove snap-fit, barb snap-fit, etc.) that matches with the outer wall of the rear end of the body 10, and the locking member 16 is installed to the rear end of the body 10 by snap-fit.

[0064] Based on any of the above embodiments, in some embodiments, the bone screw further comprises a sealing pad 15, the sealing pad 15 is provided with a central hole, the locking member 16 is provided with a slender member channel 162, and the slender member channel 162 is coaxial with the first through hole 13 in the use state. In the installed state, the slender member passes through the slender member channel 162 and the central hole of the sealing pad 15, and the sealing pad 15 expands radially under the compression of the locking member 16 and the body 10 to clamp the slender member.

[0065] Specifically, refer to Figure 1 In a specific embodiment, the body 10 is provided with a receiving cavity 17 coaxially arranged with the first through hole 13, for placing the sealing pad 15, and the center of the sealing pad 15 is provided with a center hole with a diameter equal to or slightly larger than that of the slender member; the locking member 16 also includes a first embedded portion 161, and the first embedded portion 161 is provided with a slender member channel 162 for the slender member to pass through. In the installed state, the slender member passes through the slender member channel 162, the first through hole 13 and the center hole of the sealing pad 15. The locking member 16 can squeeze the sealing pad 15 in the receiving cavity 17 to cause it to expand radially and reduce the inner diameter, thereby squeezing the slender member (such as a puncture needle, a biopsy needle, a drainage tube, a monitoring electrode, an ablation optical fiber, a data cable of an intracranial pressure sensor, etc.) passing through the center hole of the sealing pad 15, locking the position of the slender structure, preventing the slender member from rotating or moving axially, and sealing and blocking the channel in the body 10. Moreover, the locking member 16 itself can also seal and block the rear end of the body 10, avoiding contact between the intracranial environment and the extracorporeal environment, greatly reducing the risk of infection.

[0066] Reference Figure 4 In another embodiment, the locking member 16 is a locking cap (i.e., a cap-shaped structure), the sealing gasket 15 is disposed inside the locking cap, and the locking cap is also provided with a slender member channel 162. In the installed state, the slender member passes through the slender member channel 162, the center hole of the sealing gasket 15, and the first through hole 13, and the rear end of the body 10 and the locking member 16 squeeze the sealing gasket 15, causing it to expand radially and clamp the slender member, thereby playing a role in fixing, sealing, and blocking. Further, referring to Figure 5 A sealing gasket slot 163 is provided at the inner bottom of the locking cap to prevent the sealing gasket from falling off. Specifically, the slot 163 can be provided at the bottom of the brim or at the bottom of the cap body.

[0067] In this embodiment, the bone screw channel is sealed by the locking member and the sealing gasket. The locking member itself can play a sealing role. The locking member can also squeeze the sealing gasket to make it radially expand and clamp the slender structural member, thereby sealing and blocking the first through hole channel in the body, avoiding contact between the intracranial environment and the extracorporeal environment, and greatly reducing the risk of infection.

[0068] Based on any of the above embodiments, in one embodiment, the transmission structure 12 is a columnar structure with an outer contour of a non-rotating body. For example, the outer wall of the rear end of the body 10 is provided with at least three axial grooves (in this case, the contour of the rear end of the body 10 still belongs to the columnar structure of a non-rotating body), and the screw can be screwed with a screw in the form of a claw. For example, the rear end of the body 10 is provided with a regular quadrilateral columnar structure or a regular pentagonal columnar structure along the axial direction of the bone screw. For example Figure 6 Further, the transmission structure may also be a multi-stage columnar structure (tower structure), such as a "hexagonal structure with a smaller cross section" and a "hexagonal structure with a larger cross section" sequentially arranged at the rear end of the bone screw.

[0069] In this embodiment, the non-rotating columnar structure extending along the axial direction of the bone screw facilitates the screwing of the bone screw, and the columnar structure extending along the axial direction of the bone screw can guide the implantation direction of the bone screw.

[0070] Based on any of the above embodiments, in one embodiment, the transmission structure 12 is a groove-shaped structure with a non-rotating inner contour, for example Figure 7 The quadrilateral slots in Figure 1 , Figure 2 The hexagonal groove (i.e., hexagonal socket) in the bone screw can be a cylindrical groove with an axially long groove on the inner wall of the cylindrical groove, or a triangular groove, a star-shaped groove, a flower-shaped groove, etc. Further, the groove structure can also be a multi-stage groove arranged in a stepped manner, such as a "hexagonal socket with a larger cross section" and a "hexagonal socket with a smaller cross section" arranged in sequence at the rear end of the bone screw.

[0071] In this embodiment, the groove structure arranged along the axial direction of the bone screw facilitates the screwing of the bone screw, and the groove structure arranged along the axial direction of the bone screw can guide the implantation direction of the bone screw.

[0072] Based on any of the above embodiments, in one embodiment, the rear end of the body is provided with an internal thread 14, and the locking member 16 is a screw plug, or the locking member is a nut provided with a threaded column.

[0073] Reference Figure 6 In one embodiment, the front end of the body 10 is provided with a self-tapping thread 11 ( Figure 6 The self-tapping thread shape is not shown), the rear end of the body 10 is provided with a cylindrical transmission structure 12 whose outer contour is a non-rotating body, the center of the bone screw is provided with a first through hole 13 that passes through the front end to the rear end, and the end section of the first through hole 13 at the rear end of the body 10 is provided with an internal thread 14 ( Figure 6The body 10 further includes a locking member 16 in the form of a screw plug, which can be installed to the rear end of the body 10 through the internal thread 14, or the locking member 16 is a nut with a threaded column at the inner center, and the threaded column at the inner center of the nut is installed to the rear end of the body 10 through the internal thread 14.

[0074] Reference Figure 7 In one embodiment, the front end of the body 10 is provided with a self-tapping thread 11 ( Figure 7 The self-tapping thread shape is not shown), the rear end of the body 10 is provided with a groove structure 12 whose inner contour is a non-rotating body, and the center of the bone screw is provided with a first through hole 13 ( Figure 7 The rear end of the body 10 is provided with an internal thread 14, and the minor diameter of the internal thread 14 is greater than or equal to the diameter of the first through hole 13. The body 10 also includes a locking member 16 in the form of a screw plug, which can be installed to the rear end of the body 10 through the internal thread 14, or the locking member 16 is a nut with a threaded column at the center of the inner side, and the central threaded column of the nut is installed to the rear end of the body 10 through the internal thread 14.

[0075] Based on any of the embodiments, in one embodiment, the transmission structure 12 provided at the rear end of the body 10 is a groove structure (e.g., a quadrilateral groove, a hexagonal groove, a star-shaped groove, a flower-shaped groove, etc.), and the bone screw further includes a sealing pad that matches the shape of the groove structure, and the sealing pad is provided with a center hole. After the bone screw is implanted, the sealing pad can be placed in the groove structure, the locking member is installed at the rear end of the body 10, and the slender member passes through the center hole of the locking member, the center hole of the sealing pad, and the first through hole of the body.

[0076] In this embodiment, the shape of the sealing gasket is designed to match the shape of the transmission groove. The transmission groove can be used to cooperate with the screw to implant the bone screw and can also accommodate the sealing gasket for sealing. In this embodiment, there is no need to set up additional space in the bone screw to accommodate the sealing gasket, thereby optimizing the bone screw structure. In addition, the sealing gasket will not rotate in the transmission groove, and the slender member can be effectively fixed.

[0077] Based on any of the above embodiments, in one embodiment, the thread is an external thread, and the sealing member is a nut with an internal thread on the brim.

[0078] Specifically, refer to Figure 1 , 2 In one embodiment, the front end of the body 10 is provided with a self-tapping thread 11, the rear end of the body 10 is provided with a groove structure 12 along the axial direction of the body 10, and the center of the bone screw is provided with a first through hole 13 ( Figure 2 The rear end of the main body 10 is provided with an external thread 14 , and the main body 10 also includes a nut, which can be installed to the rear end of the main body 10 through the external thread 14 .

[0079] Reference Figure 8 In another embodiment, a self-tapping thread 11 is provided at the front end of the body 10, a columnar transmission structure 12 is provided at the rear end of the body 10, a first through hole 13 is provided at the center of the bone screw, which passes through the front end to the rear end, an external thread 14 is provided at the rear end of the body 10, and the body 10 also includes a nut, which can be installed to the rear end of the body 10 through the external thread 14.

[0080] Based on any of the above embodiments, in one embodiment, a clamping structure is provided at the rear end of the body 10 , and the locking member 16 is installed to the rear end of the body 10 through the clamping structure.

[0081] Specifically, for example, the outer wall of the rear end of the body 10 is provided with a slot (such as an annular slot, circumferentially spaced concave points, circumferentially spaced barb slots, etc.), the locking member 16 is a cap-shaped structure, and a buckle matching the slot is provided on its brim (such as an annular buckle, circumferentially spaced convex points, circumferentially spaced barbs); for another example, the outer wall of the rear end of the body 10 is provided with a buckle, the locking member 16 is a cap-shaped structure, and a matching slot is provided on its brim. Of course, the snap-fitting structure can also be provided on the inner wall of the rear end of the body 10, and the form of the snap-fitting structure can refer to the above description, which will not be repeated here.

[0082] A bone screw assembly provided by the present invention is described below. The bone screw assembly provided below can be understood with reference to the bone screw described above.

[0083] Fig. 9 It is a structural schematic diagram of a bone screw assembly provided by the utility model, such as Fig. 9 As shown, the bone screw assembly 100 includes a bone screw, a guide 20 , and a screwing member 30 .

[0084] The bone screw includes a body 10 and a locking member 16. The front end of the body 10 is provided with a self-tapping thread 11. When the bone screw is screwed in the direction of the self-tapping thread, the front end of the body 10 can be inserted into the skull hole or into the skull without a hole. When the bone screw is screwed in the opposite direction along the tapping thread, the front end of the body 10 can be withdrawn from the skull hole. The rear end of the body 10 is provided with a transmission structure. The transmission structure is, for example, a columnar structure with an outer contour of a non-rotating body, or a groove structure with an inner contour of a non-rotating body, which is convenient for driving the body 10 to rotate under the screwing of the screw 30. The body 10 also includes a first through hole 13 that runs from the front end to the rear end, which is used to pass medical devices, such as puncture needles, biopsy needles, drainage tubes, electrodes, ablation optical fibers, intracranial pressure sensor data cables, etc. The specific structure of the body 10 or further optimized structure can refer to the above embodiments. It can be understood that the body 10 is used alone during the implantation of the bone screw, and the locking member 16 is installed on the body 10 after completion.

[0085] The guide 20 can be fixed at the desired position in the implantation direction of the body 10 with the assistance of the positioning system. The positioning system can establish a mapping relationship between the real space and the medical image space, and determine the position where the guide 20 needs to be fixed according to the planned bone screw implantation path. The positioning system, such as a stereotactic surgical head frame, can fix the guide 20 at the desired position through the mounting structure on the head frame. The positioning system, such as a surgical navigation positioning robot, can fix the guide 20 at the desired position through the flange (locator) at the end of the robotic arm. Fig.12 , Fig.13 The guide 20 includes a second through hole 21 , the inner diameter of the second through hole 21 is clearance-matched with the outer diameter of the screw guide portion 32 so as to pass through the guide portion 32 of the screw 30 . The guide 20 can guide the screw 30 through the second through hole 21 .

[0086] Reference Fig. 9 , Fig.10 The screwing member 30 includes a screwing portion 31, a guide portion 32, and a transmission portion 33. The screwing portion 31 is located at the rear end of the screwing member 30. The screwing portion 31 and the guide portion 32 can be integrally formed or two detachable components. The shape of the screwing portion 31 can be flexibly set, for example, it can be set as a columnar structure coaxial with the guide portion 32, or as a rod-shaped structure perpendicular to the guide portion 32; the transmission portion 33 is located at the front end of the screwing member 31 (i.e., the front end of the guide portion 32), and its shape is adapted to the transmission structure 12 of the body 10. For example, when the transmission structure 12 is a columnar structure with an outer contour of a non-rotating body, the transmission portion 33 is a cap-shaped structure with corresponding grooves. When the transmission structure 12 is a groove-shaped structure with an inner contour of a non-rotating body, the transmission portion 33 is a columnar structure whose shape is adapted to the groove-shaped structure.

[0087] When the bone screw assembly 100 is in use, the guide portion 32 of the screwing member 30 can pass through the second through hole 21, and the transmission portion 33 cooperates with the transmission structure 12 of the body 10. By twisting the screwing portion 31, the body 10 can be implanted into the target position along the guiding direction of the guide 20.

[0088] In this embodiment, the guide can be stably maintained in the direction of bone screw implantation with the assistance of the positioning system. The screw member passes through the second through hole of the guide and drives the transmission structure of the bone screw to rotate through the transmission part, so that the bone screw can be stably and accurately implanted into the skull hole along the planned direction. In this embodiment, the bone screws are not provided with rotors, and even if the bone screws are implanted adjacently (densely), they will not interfere with each other, and the application range of the bone screws is wider. The guide and the screw member can avoid implantation direction deviation caused by hand shaking and uneven force, and there is no need to correct the implantation direction of the bone screws multiple times during the bone screw implantation process, thereby reducing additional trauma.

[0089] Based on any of the above embodiments, in one embodiment, the guide 20 is used to be installed in a positioning channel provided by an auxiliary positioning device.

[0090] Specifically, after completing patient registration, the surgical planning content can be mapped to the patient space, the implantation direction and position of the bone screw in the patient space can be calculated, and a positioning channel can be provided through an auxiliary positioning device, so that after the guide 20 is installed in the positioning channel, its second through hole 21 conforms to the implantation direction of the bone screw.

[0091] Based on the above embodiments, in one embodiment, the auxiliary positioning device is a surgical robot or a stereotactic head frame.

[0092] Specifically, the auxiliary positioning device may be a surgical robot with a mechanical arm, which may be moved to a desired position through the mechanical arm to provide a positioning channel. Fig.11 The diagram shows the end structure of a surgical robot. A locator 200 can be installed at the end of a robotic arm. The locator 200 includes a positioning channel 210. A guide 20 can be installed in the positioning channel 210 to guide the implantation direction of the bone screw. Exemplarily, the structure of the surgical robot with a robotic arm can also refer to the applicant's prior applications CN109549706A and CN114711969A, and the contents of these applications are incorporated herein by reference.

[0093] The auxiliary positioning device may also be a (small) surgical robot without a robotic arm, for example, the position of the moving component is adjusted and fixed by a fixed component, and the direction of the positioning channel is adjusted by the moving component. By way of example, the structure of the surgical robot without a robotic arm may also refer to the applicant's patents CN216021360U and CN111012499B, the contents of which are incorporated herein by reference.

[0094] The auxiliary positioning device can also be a stereotactic surgical head frame. Specifically, the stereotactic surgical head frame is used to be fixed to the patient's head. The position of the locator in the head frame can be adjusted and fixed. By adjusting and fixing the locator to the desired position, a positioning channel can be provided for the guide 20.

[0095] In this embodiment, an auxiliary positioning device in the form of a surgical robot or a stereotactic surgical head frame is used to provide a positioning channel for the guide, thereby improving the accuracy of bone screw implantation. The positioning channel can be reused by replacing other guides during processes such as drilling skull holes and puncture. There is no need to disassemble the end of the robotic arm or the stereotactic surgical head frame and repeatedly calculate and adjust the positioning. Different operations can be performed by simply replacing the guide, thereby improving surgical efficiency.

[0096] Still refer to Fig.12 In one embodiment, the guide 20 includes a limiting portion 22 and a second embedded portion 23 .

[0097] The shape of the second embedded portion 23 is adapted to the shape of the positioning channel, so that the guide 20 can be installed and embedded in the positioning channel to play a positioning role. The limiting portion 22 is located at the rear end side of the second embedded portion 23 (that is, the side away from the body 10), and is used to limit the depth of the guide 20 installed in the positioning channel. The limiting portion 22 is, for example, an annular boss, the outer diameter of which is greater than the inner diameter of the positioning channel, and the limiting portion 22 is, for example, a limiting protrusion (such as an annular rib, a plurality of raised dots, etc.) distributed along the circumferential direction at the top of the second embedded portion 23.

[0098] In this embodiment, the limiting portion 22 can limit the depth of the second embedding portion installed in the positioning channel, thereby preventing the guide 20 from sliding / shaking in the positioning channel when the screwing member 30 is screwing the bone screw.

[0099] Still refer to Fig.12 In one embodiment, the guide 20 further includes a first extending portion 24 , and the second through hole 21 passes through the limiting portion 22 , the second embedded portion 23 , and the first extending portion 24 .

[0100] Specifically, the first extension portion 24 can be located at the front end of the second embedded portion 23 (i.e., the side close to the body 10), or at the rear end of the limiting portion 22 (i.e., the side away from the body 10), and the first extension portion 24 extends along the axial direction of the second through hole 21. The second through hole 21 passes through the limiting portion 22, the second embedded portion 23, and the first extension portion 24 to provide guidance for the screwing member 30. The second extension portion 24 can lengthen the effective guiding length of the screwing member guide portion 32 and improve the guiding accuracy.

[0101] Based on any of the above embodiments, in one embodiment, the first extending portion 24 is located at the front end of the second embedded portion 23, and the diameter of the first extending portion 24 is smaller than the inner diameter of the positioning channel.

[0102] Specifically, the first extension portion 24 is located at the front end of the second embedded portion 23 (ie, the side close to the body 10) to avoid interference with the rotation operation of the screw member 30. The diameter of the first extension portion 24 is smaller than the inner diameter of the positioning channel, so that it is easy to pass through the positioning channel.

[0103] Based on any of the above embodiments, in one embodiment, a locking hole 26 is further provided on the guide 20 for fixing the guide in cooperation with a fixing member after the guide is installed in the positioning channel.

[0104] Specifically, refer to Fig.11 , Fig.12, the guide 20 is also provided with a locking hole 26, and the setting position of the locking hole 26 can be flexibly selected, for example, it can be set on the second embedded part 23, and a corresponding threaded hole is set on the side wall of the positioning channel. After the guide 20 is installed in the positioning channel, a screw is screwed into the threaded hole, and the front end of the screw enters the locking hole, thereby fixing the guide 20. For another example, the locking hole is a through hole on the second embedded part 23, and the positioning channel is provided with corresponding (two) through holes. When fixing the guide 20, a pin can be passed through the through hole of the positioning channel and the locking hole on the second embedded part 23 to fix it; for another example, the locking hole 26 is set on the limiting part 22, and the contact end surface of the positioner 200 and the limiting part 22 is provided with a corresponding threaded hole. After the guide 20 is installed in the positioning channel, a screw is passed through the locking hole and screwed into the threaded hole, thereby fixing the guide 20.

[0105] In this embodiment, the locking hole is provided to prevent the guide from sliding / falling off in the positioning channel, and also to prevent the guide 20 from moving and causing guiding direction errors during the process of twisting the screw.

[0106] Based on any of the above embodiments, in one embodiment, the front end of the screwing member 30 further includes a second extending portion 34 extending in the axial direction. In the use state, the second extending portion 34 is embedded in the first through hole 13 of the body 10 .

[0107] Reference Fig.13 , the front end (the end close to the skull) of the screw 30 includes a second extension 34. Specifically, the second extension 34 is located at the front end of the transmission part 33 and extends along the axial direction of the screw (i.e. the axial direction of the guide part). It can be understood that when the transmission structure 12 is a columnar structure, the transmission part 33 is a corresponding slot structure, and the second extension can be an extension extending from the slot structure. When the transmission structure 12 is a slot structure, the transmission part 33 is a corresponding columnar structure, and the second extension can be an extension extending from the end face of the columnar structure. When the transmission part 33 is in a mating state with the transmission structure 12 of the body 10, the second extension 34 is embedded in the through hole 13 of the body 10, which can standardize the implantation direction of the body 10, strengthen the guiding effect of the screw 30 on the body 10, and improve the implantation accuracy of the bone screw.

[0108] It is understandable that the shape of the second extension portion 34 is adapted to the shape of the first through hole 13. For example, the through hole of the body 10 is a cylindrical through hole, and the second extension portion 34 is a corresponding cylindrical structure. For another example, the first through hole 13 of the body 10 is a hexagonal through hole, and the second extension portion 34 is a corresponding hexagonal structure.

[0109] In this embodiment, the second extension portion further enhances the guiding effect of the screwing member on the bone screw, thereby avoiding the deviation of the bone screw implantation direction caused by hand shaking, uneven force application, etc.

[0110] Based on any of the above embodiments, in one embodiment, the screwing member 30 further includes a stopper, and the stopper can be fixed to the guide portion 32 of the screwing member 30 in an adjustable position.

[0111] Specifically, the stopper can be fixed to the guide portion 32 on the screwing member 30, and its position can be adjusted. After the position is set, the doctor twists the screwing member, and after screwing it into a certain depth, the stopper will be blocked by the guide 20 to prevent further screwing of the bone screw from causing damage to the patient. The stopper structure, for example, includes a sleeve structure and a screw. The side wall of the sleeve structure is provided with a threaded hole, and the screw can be installed in the threaded hole. When the stopper needs to be fixed, the screw can be screwed into the threaded hole, and the front end of the screw can squeeze the guide portion 32 of the screwing member 30 to achieve fixation.

[0112] In one feasible operation mode, the positioning system is used to assist in setting the setting position of the stopper on the guide part 32. The positioning system automatically calculates the required position of the stopper on the screwing member according to the size, position, and expected screwing depth of each component. The doctor directly adjusts and fixes the stopper on the guide part 32 according to the calculated position. In another feasible operation mode, the doctor passes the front end of the screwing member through the guide 20, and the transmission part of the front end presses against the rear end of the bone screw. The doctor moves the stopper to be close to the guide 20, and then withdraws the stopper on the guide part 32 by a corresponding distance according to the "expected bone screw implantation depth" and fixes it.

[0113] In this embodiment, the implantation depth of the bone screw is accurately controlled by the limiter, thereby avoiding the situation where the bone screw is easily loosened due to shallow implantation, and also avoiding the situation where the bone screw is implanted too deeply and causes damage to the brain tissue.

[0114] Based on the previous embodiment, in one embodiment, the bone screw assembly 100 further includes a spiral feeding assembly, and the rear end of the guide further includes a mounting portion 25. The spiral feeding assembly is mounted to the rear end of the guide through the mounting portion 25, and the spiral feeding structure can adjust the relative distance from its rear end limiting surface to the target area.

[0115] Specifically, the guide 20 further includes a mounting portion 25, which is located at the rear end of the limiting portion 22. The mounting portion may be an annular boss with an external thread or an internal thread. It is understood that the "annular" shape is convenient for installing the screw feed assembly or for the guide portion 32 of the screwing member 30 to pass through.

[0116] The spiral feed assembly is installed to the rear end of the guide through the mounting portion 25. The spiral feed assembly can adjust the relative distance between the limit surface at the rear end and the target area. For example, the stepper includes two sleeve structures, the first sleeve is sleeved with the second sleeve, and the two are threadedly matched to adjust the relative distance between the limit surface at the rear end and the target area, and cooperate with the limiter on the screw to control the implantation depth of the bone screw. It can be understood that the spiral feed assembly is also wrapped in a hollow structure, which is convenient for the guide portion 32 of the screw 30 to pass through after being installed in the guide.

[0117] In this embodiment, a spiral feed assembly is provided to facilitate "fine-tuning" of the implantation depth of the bone screw in cooperation with the limiter, thereby avoiding the need to remove and adjust the limiter every time when the implantation depth is insufficient, thereby improving operational efficiency.

[0118] A surgical robot provided by the present invention is described below. The surgical robot described below and the bone screw assembly described above can refer to each other.

[0119] Fig.14 This is a schematic diagram of the structure of a surgical robot provided by the utility model. Fig.14 As shown, a surgical robot provided by the utility model comprises: any of the aforementioned bone screw implantation components 100, a positioner 200, a mechanical arm 300, and a processing module 400;

[0120] The positioner 200 is installed at the end of the robot arm 300;

[0121] The robot arm 300 is used to align the positioning channel of the positioner 200 with the planned bone screw implantation direction according to the control instruction of the processing module 400;

[0122] The bone screw implantation assembly 100 is used to assist in implanting a bone screw under the positioning of the positioner 200 .

[0123] Specifically, the robotic arm 300 can be a robotic arm with four degrees of freedom, five degrees of freedom, six degrees of freedom, seven degrees of freedom, and so on. There is a positioning channel 210 on the locator 200, and the locator 200 can be installed at the end of the robotic arm. The processing module 400 is in communication connection with the robotic arm 300, and the processing module 400 can control the robotic arm 300 to move to a positioning position, in which the positioning channel of the locator 200 can be aligned with the planned bone screw implantation direction. The bone screw implantation assembly 100 includes a body 10, a guide 20, and a screw 30. During the bone screw implantation process, the guide 20 is installed in the positioning channel, the guide portion 32 of the screw 30 passes through the second through hole 21 of the guide 20, and the transmission portion 33 is engaged with the transmission structure 12 of the body 10. Under the guidance of the guide 20, the doctor implants the body 10 into the target position by twisting the screw 30.

[0124] The process of patient registration and calculation of the robot arm posture required for implanting bone screws can refer to the prior art, and the present invention does not expand on this. In addition, the present invention does not limit the composition of the robot arm and the processing module. For example, the processing module is set in the operating trolley and the robot arm is installed on the operating trolley. For example, the processing module is integrated in the robot arm base. For example, the processing module is integrated in the control room, and the processing module and the robot arm have wired or wireless communication.

[0125] A surgical robot in this embodiment can cooperate with the surgical robot to implant bone screws through the designed bone screw assembly, thereby improving the implantation accuracy of the bone screws and helping to improve the accuracy and success rate of operations such as electrode implantation, biopsy, drainage, and laser ablation.

[0126] The utility model also provides a surgical robot comprising: a guide module, a position adjustment module, a processing module, and any one of the aforementioned bone screw implantation components;

[0127] The guide module includes a positioning channel;

[0128] The position adjustment module is used to align the positioning channel of the guide module with the planned bone screw implantation direction according to the control instruction of the processing module;

[0129] The bone screw implantation component is used to assist in implanting bone screws under the positioning of the guide module.

[0130] Specifically, the position adjustment module is fixed at a desired position, for example, by fixing the position adjustment module within a certain distance range of the patient through a multi-section articulated arm, or by directly fixing the position adjustment module on a hospital bed. The position adjustment module is connected to the guide module to adjust the position and direction of the positioning channel of the guide module. After completing the patient registration, the processing module controls the movement of the position adjustment module to align the positioning channel with the implantation direction of the bone screw, and to make the positioning channel and the implantation position of the bone screw within a suitable distance range, so as to facilitate the doctor to operate and screw in the bone screw. The bone screw implantation assembly includes a body, a guide, and a screw. During the implantation of the bone screw, the guide is installed in the positioning channel, the guide portion of the screw passes through the second through hole of the guide, and the transmission portion engages with the transmission structure of the body. Under the guidance of the guide, the doctor implants the bone screw into the target position by screwing the screw.

[0131] The surgical robot provided in this embodiment improves the implantation accuracy of the bone screws by being used in conjunction with the bone screw assembly, which helps to improve the accuracy and success rate of operations such as electrode implantation, biopsy, drainage, and laser ablation.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A bone screw, characterized in that: include: body and locking member; The front end of the body is provided with a self-tapping thread, the rear end of the body is provided with a transmission structure, and the body is also provided with a first through hole that passes through the front end to the rear end of the body; The locking member is used to be installed on the rear end of the body to close the first through hole after the elongated member to be implanted reaches the expected position.

2. The bone screw according to claim 1, characterized in that: The locking member includes a first embedded portion embedded in the rear end of the body in the installed state, the first embedded portion is provided with a slender component channel coaxial with the first through hole, and in the installed state, the first embedded portion is squeezed and contracted to clamp the slender component passing through the slender component channel.

3. The bone screw according to claim 1, characterized in that: Also comprising a sealing gasket, the locking member is provided with an elongated member passage coaxial with the first through hole; In the installed state, the slender member passes through the slender member channel and the central hole of the sealing gasket, and the sealing gasket expands radially under the compression of the locking member and the body, clamping the slender member to achieve sealing.

4. The bone screw according to claim 3, characterized in that: The body is further provided with a receiving cavity coaxial with the first through hole, the sealing gasket is arranged in the receiving cavity, and after the locking member is installed to the rear end of the body, the portion of the locking member embedded in the first through hole presses the sealing gasket; or, The locking member is a locking cap, the sealing gasket is arranged in the locking cap, and the rear end of the body presses the sealing gasket.

5. The bone screw according to claim 4, characterized in that: The locking cap is provided with a slot, and the sealing gasket is arranged in the slot.

6. The bone screw according to claim 1, characterized in that: The rear end of the body is provided with an internal thread, and the locking member is a screw plug or a nut provided with a threaded column; Or, the rear end of the body is provided with an external thread, and the locking member is a nut with an internal thread provided on the brim; Alternatively, a clamping structure is provided at the rear end of the body, and the locking member is mounted to the rear end of the body via the clamping structure.

7. The bone screw according to claim 1, characterized in that: The transmission structure is a columnar structure with an outer contour being a non-rotating body, or a groove-shaped structure with an inner contour being a non-rotating body.

8. A bone screw assembly, characterized in that: include: Bone screws, guides, and screws; The bone screw comprises a body and a locking member, the front end of the body is provided with a self-tapping thread, the rear end of the body is provided with a transmission structure, the body is further provided with a first through hole that passes through the front end to the rear end of the body, and the locking member is used to be installed at the rear end of the body to close the first through hole; The guide includes a second through hole; The screwing member includes a screwing portion, a guide portion, and a transmission portion, and the shape of the transmission portion is adapted to the transmission structure of the bone screw; in a state of use, the guide portion passes through the second through hole, and the transmission portion cooperates with the transmission structure of the bone screw, and the bone screw can be implanted into a target position along the guiding direction of the guide by twisting the screwing portion.

9. The bone screw assembly according to claim 8, characterized in that: The guide is used to be installed in the positioning channel provided by the auxiliary positioning device.

10. The bone screw assembly according to claim 9, characterized in that: The auxiliary positioning device is a surgical robot or a stereotactic head frame.

11. The bone screw assembly according to claim 9, characterized in that: The guide comprises a limiting portion and a second embedding portion; The shape of the second embedded portion is adapted to the shape of the positioning channel; The limiting portion is used to limit the depth of the guide installed in the positioning channel.

12. The bone screw assembly according to claim 11, characterized in that: The guide also includes a first extending portion, and the second through hole passes through the limiting portion, the second embedding portion, and the first extending portion.

13. The bone screw assembly according to claim 8, characterized in that: The guide is also provided with a locking hole, which is used to fix the guide in cooperation with a fixing piece after the guide is installed in the positioning channel.

14. The bone screw assembly according to claim 8, characterized in that: The front end of the screwing member further includes a second extending portion extending in the axial direction. In a use state, the second extending portion is embedded in the first through hole.

15. The bone screw assembly according to claim 8, wherein: The screwing member further includes a stopper which is fixed to the guide portion of the screwing member in an adjustable position.

16. The bone screw assembly according to claim 15, characterized in that: The bone screw assembly also includes a spiral feeding assembly, and the rear end of the guide also includes a mounting portion. The spiral feeding assembly is mounted to the rear end of the guide through the mounting portion. The spiral feeding assembly can adjust the relative distance between its rear end limiting surface and the target area.

17. A surgical robot, characterized in that: include: A bone screw implant assembly as described in any one of claims 8 to 16.

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