Percutaneous vertebral pedicle puncture tracking device

Abstract

The utility model discloses a percutaneous vertebral pedicle puncture tracking device which comprises a set screw which comprises a needle head part located at the near end, a needle body part extending towards the far end and a needle point part located at the far end of the needle body part. The handle is connected to the needle head part and is used for being held to operate the screw to implement percutaneous vertebral pedicle puncture; the tracking part is arranged adjacent to the needle head part and comprises an operation sleeve arranged on the needle head part in a sleeving mode, a support arranged on the operation sleeve and a tracking plate arranged at the top end of the support and used for recognition, and the plane of the tracking plate is perpendicular to the axis of the needle body part. According to the percutaneous vertebral pedicle puncture device, the handle connected to the set screw is arranged, an operator can hold the set screw to operate the set screw to implement percutaneous vertebral pedicle puncture, and the tracking piece is arranged at the needle head of the set screw, so that the set screw can be tracked by tracking equipment during puncture; therefore, the preoperative virtual model and the real scene can be quickly displayed in the operation scene in an overlapping manner, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a percutaneous pedicle puncture tracking device. Background Art

[0002] Thoracolumbar diseases are common diseases among the people nowadays. For example, compression fractures of the thoracolumbar spine seriously affect the quality of life of patients. Percutaneous vertebral kyphoplasty (PKP) and percutaneous pedicle screw reduction and internal fixation are relatively mature treatment options for such fractures. This treatment option has been recognized by the majority of patients and doctors because of its small trauma, short postoperative recovery time, small amount of bleeding, and ability to avoid long-term bed rest caused by conservative treatment, such as deep vein thrombosis, lung infection, bedsores and other complications. In particular, as the concept of minimally invasive spinal surgery continues to gain popularity, more and more spinal surgeons are currently using minimally invasive surgery as the preferred treatment strategy.

[0003] In minimally invasive spinal surgery, percutaneous pedicle screw placement can maintain spinal mechanical properties and effectively stabilize spinal curvature. Currently, various navigation technologies, such as computer 3D navigation, magnetic navigation, and orthopedic robotics, have greatly improved the accuracy of pedicle puncture, reduced the aforementioned drawbacks, and effectively prevented iatrogenic nerve injury. In clinical practice, pedicle screw insertion cones are frequently used. However, currently used pedicle screw insertion cones cannot be tracked by any navigation device. Before insertion, the surgeon must use Kirschner wires or other imaging tools to locate the entry point on the patient's back surface. Intraoperative X-rays are then used to perform continuous fluoroscopic scans to determine the entry point. As a result, the patient is exposed to significant X-ray radiation, and the surgeon must leave the operating room or stand behind a shield during surgery to protect against radiation hazards, significantly extending the surgical time.

[0004] With the rapid development of AR or MR technology, it has been widely used in various fields. For example, in the field of AR or MR-assisted doctor surgery, the patient's preoperative CT and other scanning data are usually used to generate a preoperative virtual model (for example, a human spine model, etc.), and the preoperative virtual model and the surgical scene are superimposed and displayed in front of the doctor through the AR or MR device worn by the doctor. To this end, how to provide a percutaneous pedicle puncture device that can be tracked by, for example, an AR or MR device, so that it can quickly superimpose and display the preoperative virtual model and the real scene in the surgical scene to improve the efficiency of the operation is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In view of the shortcomings of the related technologies mentioned above, the purpose of this application is to provide a percutaneous pedicle puncture tracking device to solve the technical problem that the pedicle opening cone cannot be tracked by the navigation equipment, resulting in increased operation time and low operation efficiency.

[0006] To achieve the above-mentioned purpose and other related purposes, the present application provides a percutaneous pedicle puncture tracking device, comprising: a screw placement device, comprising a needle head portion located at the proximal end, a needle body portion extending toward the distal end, and a needle tip portion located at the distal end of the needle body portion; a handle connected to the needle head portion for providing a grip to operate the screw placement device to perform percutaneous pedicle puncture; a tracking member, adjacent to the needle head portion, comprising an operating sleeve mounted on the needle head portion and a bracket arranged on the operating sleeve, and a tracking plate arranged on the top end of the bracket for identification, wherein the plane of the tracking plate is perpendicular to the axis of the needle body portion.

[0007] In certain embodiments disclosed in the present application, the handle includes a handle body, a grip portion formed on a proximal side of the handle body, and a finger grip portion formed on a distal side of the handle body.

[0008] In certain embodiments disclosed in the present application, the percutaneous pedicle puncture tracking device further includes a connecting assembly connected between the screw placement device and the handle for disposing the tracking member and detachably fixing the screw placement device.

[0009] In certain embodiments disclosed in the present application, the needle head of the nail placement device has an annular groove corresponding to the connecting component.

[0010] In certain embodiments disclosed in the present application, the connecting assembly includes a core rod for fixedly connecting the handle and for inserting the needle head of the nail placement into and engaging with the annular groove, and a sleeve sleeved on the core rod for externally setting the tracking member, and the distal end of the sleeve has a limiting portion.

[0011] In certain embodiments disclosed in the present application, the core rod includes a pin portion for fixedly connecting the handle, and a sleeve for inserting the needle head of the nail, the inner side wall of the sleeve is provided with a limiting groove for limiting the needle head, and at least two ball holes for respectively accommodating a card ball between the limiting grooves; the connecting assembly also includes a stopper mounted on the core rod and located between the pin portion and the sleeve for pressing the card ball into the ball hole, and an elastic member mounted on the sleeve of the core rod and limited between the stopper and the limiting portion of the sleeve.

[0012] In certain embodiments disclosed in the present application, a plurality of long holes are provided on the cylindrical body of the operating sleeve so as to provide the operating sleeve with elastic restoring force.

[0013] In certain embodiments disclosed in the present application, the distal end of the cylindrical body of the operating sleeve has a holding portion for handheld operation to keep the tracking board at a trackable angle.

[0014] In certain embodiments disclosed in this application, a QR code pattern is provided on the tracking pad.

[0015] In certain embodiments disclosed in the present application, the cross-sectional diameter of the needle body portion of the nail placement is 2.0 mm-7.0 mm; the length of the nail placement is 50 mm-120 mm.

[0016] In summary, the percutaneous pedicle puncture tracking device provided in this application, by providing a handle connected to the screw placement device, can provide the operator with a grip to manipulate the screw placement and perform percutaneous pedicle puncture. By providing a tracking element on the needle head of the screw placement device, the screw placement device can be tracked by tracking devices such as AR or MR during puncture, thereby enabling the preoperative virtual model and the real scene to be quickly superimposed and displayed in the surgical scene, thereby improving surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The specific features of the present application are set forth in the appended claims. The features and advantages of the present invention can be better understood by referring to the exemplary embodiments described in detail below and the accompanying drawings. A brief description of the drawings is as follows:

[0018] Figure 1 Shown is a schematic structural diagram of a percutaneous pedicle puncture tracking device in one embodiment of the present application.

[0019] Figure 2 Shown is a schematic diagram of the disassembled structure of a percutaneous pedicle puncture tracking device in one embodiment of the present application.

[0020] Figure 3 Shown is a schematic diagram of the structure of nail placement in one embodiment of the present application.

[0021] Figure 4 Show this application Figure 3 A partially enlarged schematic diagram of the needle head in the illustrated embodiment.

[0022] Figure 5 Shown is a schematic structural diagram of a tracking element in one embodiment of the present application.

[0023] Figure 6 Shown is a structural schematic diagram of a connection component in one embodiment of the present application.

[0024] Figure 7 Shown is a schematic diagram of the split structure of the connection components in one embodiment of the present application.

[0025] Figure 8 Shown is a schematic structural diagram of a core rod in one embodiment of the present application.

[0026] Figure 9 Show this application Figure 8 A schematic cross-sectional view of the embodiment shown.

[0027] Figure 10 Show this application Figure 9 A cross-sectional schematic diagram of the installation of the card ball in the embodiment shown.

[0028] Figures 11 to 13 They respectively show schematic diagrams of the state in which the pin is detachably connected to the connecting component in one embodiment of the present application. DETAILED DESCRIPTION

[0029] The following describes the implementation of the present application through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

[0030] In the following description, reference is sometimes made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may be used, and changes in module or unit composition, electrical, and operational aspects may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the scope of the embodiments of the present application is limited only by the claims set forth. The terminology used herein is intended only to describe specific embodiments and is not intended to limit the present application.

[0031] It will be understood that while the terms first, second, etc. may be used herein to describe various elements or parameters in some instances, these elements or parameters should not be limited by these terms. These terms are used solely to distinguish one element or parameter from another. For example, a first hole can be referred to as a second hole, and similarly, a second hole can be referred to as a first hole, without departing from the scope of the various described embodiments. The first hole and the second hole are both describing a particular hole, but unless the context clearly indicates otherwise, they are not the same hole. Similar situations also include a first catch and a second catch, etc. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition occur only when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0032] It will be understood that when a component or element is referred to as being “on” or extending “onto” another element, the element may be directly on or directly extending onto the other element, or intervening elements may be present. Conversely, when an element is referred to as being “directly on” or “extending directly onto” another element, there are no intervening elements present. It will also be understood that when an element is referred to as being “connected” or “coupled” to another element, it may be directly connected or coupled to the other element, or there may be intervening elements present. Conversely, when an element is referred to as being “directly connected” or “directly coupled” to another element, there are no intervening elements present.

[0033] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe the relationship of one element, layer, or region to another element, layer, or region as illustrated in the figures. It will be understood that these terms are intended to encompass different device orientations other than the orientation depicted in the figures. In this application, the terms "perpendicular," "horizontal," and "parallel" are defined as including ±10% of the standard definition. For example, perpendicular generally refers to an angle of 90° relative to a reference line, but in this application, perpendicular refers to an angle within a range of 80° to 100°.

[0034] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit this application. When used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when used herein, the terms "comprise," "include," "include," and / or "comprising" specify the presence of stated features, integers, steps, operations, elements, and / or parts, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, and / or combinations thereof.

[0035] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will also be understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art, and should not be interpreted in an idealized or overly formal sense unless explicitly defined as such in this document.

[0036] Unless otherwise expressly stated, comparative quantitative terms such as "above" and "below" are intended to encompass equivalent concepts. For example, "above" may not only mean "greater than" in a mathematical sense, but may also mean "equal to."

[0037] In view of the technical problems mentioned in the background technology, the percutaneous pedicle puncture tracking device provided in this application provides a handle connected to the screw placement device, which can provide a grip for the operator to operate the screw placement and perform percutaneous pedicle puncture. By providing a tracking element on the needle head of the screw placement device, the screw placement device can be tracked by tracking devices such as AR or MR during puncture, thereby enabling the preoperative virtual model and the real scene to be quickly superimposed and displayed in the surgical scene, thereby improving surgical efficiency.

[0038] To clearly illustrate the positional relationships between the various devices, components, structures, or mechanisms in the embodiments of this application, along the length of the screw, the side where the screw is connected to the handle is defined as the proximal end or the proximal side, and the side away from the handle, i.e., the side where the needle tip is located, is defined as the distal end or the distal side. It should be understood that the proximal end and distal end correspond to opposite sides of the percutaneous pedicle puncture tracking device, and the two ends are opposite and distal to each other.

[0039] The operator described in some embodiments of the present application refers to a person who operates the percutaneous pedicle puncture tracking device. For example, the operator may be a medical staff who performs spinal surgery. In some examples, the operator may also be a surgical robot in a spinal surgery navigation system. In an embodiment of the present application, the spinal surgery navigation system is an electronic system that assists users in performing surgery by providing guidance information. The guidance information includes: a virtual model and position corresponding to the actual surgical site, a virtual model and position of surgical instruments, and / or a surgical path, etc. The surgical navigation system is exemplified by a surgical navigation system based on image tracking. Among them, the surgical navigation system based on image tracking performs positioning tracking of the surgical site and surgical instruments through real-time captured images to provide real-time guidance information to the user.

[0040] The surgical navigation system includes a tracking device, such as an AR or MR device, and a computer device. The computer device is in communication with the tracking device, such as an AR or MR device, to facilitate data transmission between the tracking device and the computer device. In this embodiment, the surgical navigation system uses the tracking device, such as an AR or MR device, to track the location of the surgical site and the percutaneous pedicle puncture tracking device, providing real-time guidance information to the user.

[0041] The following combination Figures 1 to 13 The percutaneous pedicle puncture tracking device of the present application is described in detail.

[0042] See also Figure 1 and Figure 2 ,in, Figure 1 Shown is a schematic structural diagram of a percutaneous pedicle puncture tracking device in one embodiment of the present application. Figure 2 The diagram shows the disassembled structure of the percutaneous pedicle puncture tracking device in one embodiment of the present application. Figure 1 and Figure 2 As shown, the percutaneous pedicle puncture tracking device includes a screw placement device 1, a handle 2, and a tracking component 3.

[0043] In one embodiment, see Figure 3 Combined with Figures 1 to 2 ,in, Figure 3 The following is a schematic diagram of the structure of a nail placement device according to one embodiment of the present invention. As shown in the figure, the nail placement device 1 includes a needle head 11, a needle body 12, and a needle tip 13. The needle head 11 is located at the proximal end of the nail placement device 1, the needle body 12 extends toward the distal end, and the needle tip 13 is located at the distal end of the needle body 12.

[0044] In one embodiment, the needle head 11 is used to be fixedly connected to the handle 2. Figure 4 , shown as this application Figure 3 The enlarged schematic diagram of the needle head in the embodiment shown is shown in FIG. Figure 4 As shown, the needle head 11 is generally square, allowing the operator to rotate the handle 2 with force, thereby rotating the nail 1 and puncturing the patient's vertebral body. In another embodiment, the needle head 11 can be detachably connected to the connecting assembly 4, thereby enabling the replacement of the nail 1. It should be noted that the needle head 11 of the nail 1 can be configured as any shape as long as it can achieve connection between the nail and the handle or the connecting assembly, and this application does not impose any restrictions on this.

[0045] In one embodiment, if Figure 4 As shown, the needle head 11 of the nail placement 1 has an annular groove 111 corresponding to the connecting component 4. The specific structure of the connecting component 4 and the specific function of the annular groove 111 can be found in the description of the subsequent embodiments and will not be repeated here.

[0046] In one embodiment, the surface of the needle body 12 is smooth. Of course, in other embodiments, the needle body 12 may be configured with a threaded structure. This threaded structure can increase the bone grip of the nail 1, facilitating puncture by the operator while preventing the nail 1 from loosening or shifting after puncture. Based on the teachings of this application, those skilled in the art can also design the thread density based on the hardness and density of different bones. For example, in hard bone, a dense thread density can be designed to provide better fixation. In soft bone, a fewer thread density or even no thread density can achieve puncture and fixation.

[0047] In one embodiment, if Figure 2As shown, the cross-sectional diameter of the needle body 12 gradually decreases from the proximal end to the distal end. It should be understood that the smaller cross-sectional diameter at the distal end of the needle body 12 can be adapted to the needle tip 13 to reduce initial penetration resistance, thereby allowing the operator to use less force to insert the nail 1 into the body. As the nail 1 penetrates deeper, the cross-sectional area of the needle body 12 in contact with the bone gradually increases, allowing the stress generated by the nail 1 to be evenly distributed across the bone, avoiding stress concentration in specific areas and reducing the risk of bone damage.

[0048] In another embodiment, the cross-sectional diameter of the needle body 12 remains constant, that is, the needle body 12 can be configured as a cylinder, so that the resistance of the nail 1 when entering the human body is uniform. Of course, the needle body 12 can be configured as any shape, which can be determined according to actual application requirements and is not limited in this application.

[0049] In one embodiment, the cross-sectional diameter of the needle body 12 of the nail placement 1 is 2.0 mm to 7.0 mm. For example, the cross-sectional diameter can be approximately 2.0 mm, 2.1 mm, 2.2 mm, 2.3 mm, 2.4 mm, 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm, 2.9 mm, 3.0 mm, 3.1 mm, 3.2 mm, 3.3 mm, 3.4 mm, 3.5 mm, 3.6 mm, 3.7 mm, 3.8 mm, 3.9 mm, 4.0 mm, 4.1 mm, 4.2 mm, 4.3 mm, 4.4 mm, 4.5 mm, 4.6 mm, 4.7 mm, 4.8 mm, 4.9 mm, 5.0 mm, 5.1 mm, 5.2 mm, 5.3 mm, 5.4 mm, 5.5 mm, 5.6 mm, 5.7 mm, 5.8 mm, 5.9 mm, 6.0 mm, 6.1 mm, 6.2 mm, 6.3 mm, 6.4 mm, 6.5 mm, 6.6 mm, 6.7 mm, 6.8 mm, 6.9 mm, 7.0 mm, 7.1 mm, 7.2 mm, 7.3 mm, 7.4 mm, 7.5 mm, 7.6 mm, 7.7 mm, 7.8 mm, 7.9 mm, 8.0 ... 4mm, 4.5mm, 4.6mm, 4.7mm, 4.8mm, 4.9mm, 5.0mm, 5.1mm, 5.2mm, 5.3mm, 5.4mm, 5.5mm, 5.6mm, 5.7mm , 5.8mm, 5.9mm, 6.0mm, 6.1mm, 6.2mm, 6.3mm, 6.4mm, 6.5mm, 6.6mm, 6.7mm, 6.8mm, 6.9mm, or 7.0mm, etc.

[0050] It should be noted that, in the example where the cross-sectional diameter of the needle body 12 remains constant, the cross-sectional diameter can be configured to any of the values in the above examples. In the example where the cross-sectional area of the needle body 12 gradually decreases from the proximal end to the distal end, the cross-sectional diameter of the needle body 12 at any position can be configured to any of the values in the above examples.

[0051] In one embodiment, the needle tip 13 can be configured as a sharp cone, enabling the nail 1 to more easily penetrate bone and reduce resistance during puncture. In other embodiments, the needle tip 13 can be configured as a multi-faceted tip, such as a tri-faceted tip, i.e., having three cutting planes along the circumference of the needle tip 13. Of course, the needle tip 13 can be configured in any shape, depending on the actual application requirements, and this application does not impose any restrictions on this.

[0052] In some embodiments, the needle body 12 and the needle tip 13 can be connected in an integral manner, and the needle head 11 and the needle body 12 can be connected in an integral manner or in a fixed connection manner, and the fixed connection manner includes but is not limited to welding, bonding and mortise and tenon connection.

[0053] In one embodiment, the length of the nail 1 is 50mm-120mm. For example, the length of the nail 1 can be approximately 50mm, 51mm, 52mm, 53mm, 54mm, 55mm, 56mm, 57mm, 58mm, 59mm, 60mm, 61mm, 62mm, 63mm, 64mm, 65mm, 66mm, 67mm, 68mm, 69mm, 70mm, 71mm, 72mm, 73mm, 74mm, 75mm, 76mm, 77mm, 78mm, 79mm, 80mm, 81mm, 82mm, 83mm, 84mm, 85mm, 86mm, 87mm, 88mm, 89mm, 90mm, 91mm, 92mm, 93mm, 94mm, 95mm, 96mm, 97mm, 98mm, 99mm, 100mm, 101mm, 102mm, 103mm, 104mm, 105mm, 106mm, 107mm, 108mm, 100mm, 110mm, 111mm, 112mm, 113mm, 114mm, 115mm, 116mm, 117mm, 118mm, 119mm, or 120mm, etc.

[0054] In one embodiment, the pin 1 may be provided with a depth marker, which is used to visually indicate to the operator the depth to which the pin 1 has entered the human body, thereby enabling the operator to precisely control the depth of the pin 1 implanted, thereby avoiding insufficient or excessive implantation of the pin 1, which in turn affects the surgical outcome. In one example, the depth marker may be configured as a graduated marker. For example, the graduated marker may be configured as evenly spaced annular lines or annular grooves. Specifically, on the needle body 12 of the pin 1, an annular line or an annular groove may be provided every 10 mm. Of course, the depth marker may be configured in any form, as long as it can indicate the implantation depth of the pin 1.

[0055] In one embodiment, the material of the pin 1 can be configured to have high mechanical properties or high biocompatibility, such as titanium alloy, stainless steel, and cobalt-chromium alloy, which has high strength and can effectively reduce the body's immune response, thereby reducing the risk of postoperative infection and rejection.

[0056] In one embodiment, the handle 2 is connected to the needle head 11 to provide a grip for manipulating the screw 1 for percutaneous pedicle puncture. In this embodiment, the connection between the handle 2 and the needle head 11 is provided with a structure that is compatible with the needle head 11. For example, in an embodiment where the needle head 11 is configured as a square, the handle 2 is provided with a square hole, so that the needle head 11 can be inserted into the square hole of the handle 2. This not only connects the handle 2 to the screw 1, but also provides a high torque transmission effect for the screw 1 to penetrate the human body.

[0057] In one embodiment, if Figure 2 As shown, the handle 2 includes a handle body 21, a grip portion 22, and a finger grip portion 23. The grip portion 22 is formed on the proximal side of the handle body 21, and the finger grip portion 23 is formed on the distal side of the handle body 21. In minimally invasive spinal surgery used in this application, particularly percutaneous pedicle screw placement, the grip portion 22 and the finger grip portion 23 are provided on either side of the handle body 21 to allow an operator, such as a physician, to more firmly grasp the handle 2, thereby facilitating the performance of the surgery. In an embodiment, the handle 2 provides an operator with an operating space. The operator can operate the percutaneous pedicle puncture tracking device by gripping the grip portion 22 and the finger grip portion 23, such as placement, insertion, and rotation. In one example, the finger grip portion 23 is configured with a recessed portion that can be passed through by a finger. Specifically, the operator's palm passes through the grip portion 22 and the handle body 21, and the operator's fingers grip the recessed portion of the finger grip portion 23 to operate the percutaneous pedicle puncture tracking device. In practical applications, based on the technical inspiration and inventive ideas of this application, the technology in this field can design a handle form that conforms to the characteristics of other minimally invasive surgeries and combine the nail placement 1 and tracking part 3 of this application to achieve its purpose. Therefore, the handle can be configured in any form, including but not limited to straight type and curved type, as long as it is convenient for the operator to apply force.

[0058] In one embodiment, if Figure 1 and Figure 2 As shown, the tracking member 3 is disposed adjacent to the needle head 11. Figure 5 , which is a schematic diagram of the structure of the tracking element in one embodiment of the present application. Figure 5As shown, the tracking member 3 includes an operating sleeve 31, a bracket 32, and a tracking plate 33. The operating sleeve 31 is sleeved on the needle head 11, the bracket 32 is arranged on the operating sleeve 31, and the tracking plate 33 is arranged at the top of the bracket 32 for identification, and the plane of the tracking plate 33 is perpendicular to the axis of the needle body 12. In some examples, the tracking member 3 can be manufactured by 3D printing technology to obtain a tracking member that meets specific surgical requirements. In this example, the material of the tracking member 3 can be, for example, a resin material printed by light-curing resin, and the operating sleeve 31 and the bracket 32, as well as the bracket 32 and the tracking plate 33 are all formed in an integrated manner. However, this is not limited to this, and it is determined according to actual surgical requirements. In some embodiments, the tracking plate 33 is an object that can be recognized by the AR device and whose shape, size and other information are known. For example, the tracking plate 33 is an object of regular shape such as square, rectangular, circular, or diamond. As Figure 1 and Figure 2 In the illustrated embodiment, the tracking plate 33 is a square plate.

[0059] In one example, the operating sleeve 31 can be directly sleeved on the needle head 11. In another example, Figure 1 As shown, the operating sleeve 31 is sleeved on the connecting assembly 4, and the connecting assembly 4 is sleeved on the needle head 11. The specific structure of the connecting assembly 4 can be found in the description of the subsequent embodiments and will not be repeated here.

[0060] In one embodiment, a plurality of long holes 312 are provided on the cylinder 311 of the operating sleeve 31 to provide the operating sleeve 31 with elastic restoring force. In other words, the plurality of long holes 312 provided on the cylinder 311 provide the cylinder 311 with greater flexibility, so as to facilitate the installation of the operating sleeve 31. Figure 5 As shown, the plurality of elongated holes 312 are evenly distributed around the circumference of the barrel 311, and their length direction extends from the proximal end toward the distal end of the barrel 311. It should be understood that when the operating sleeve 31 is sleeved on the needle head 11 or the connecting assembly 4, the operating sleeve 31 will be subjected to external forces, such as compression or tension, and the elongated holes 312 will be locally deformed, thereby causing the barrel 311 to temporarily deform to adapt to the shape of the structure on which it is sleeved. When the external force is removed, the deformation of the elongated holes 312 gradually recovers, during which time an elastic restoring force is generated, causing the barrel 311 to return to its initial shape, thereby achieving an interference fit between the barrel 311 and the needle head 11 or the connecting assembly 4, thereby enabling the barrel 311 to be tightly sleeved on the needle head 11 or the connecting assembly 4.

[0061] In one embodiment, if Figure 5As shown, the distal end of the barrel 311 of the operating sleeve 31 has a holding portion 313 for handheld operation to keep the tracking plate 3 at a trackable angle. It should be understood that the tracking plate 3 is used to be tracked by tracking devices such as AR or MR. Therefore, when the pin 1 is punctured into the human body, for example, when the operator holds the handle 2 to rotate the pin 1 and pierce the human body, the tracking plate 3 should be prevented from rotating with the rotation of the pin 1, so that the tracking plate 3 can be kept at a trackable visual angle throughout the puncture process. In one embodiment, the AR or MR device is AR or MR glasses or an AR or MR helmet. In one example, the AR or MR device is AR or MR glasses, which are relatively light, and the doctor's head bears less weight when wearing AR or MR glasses during the operation. In another example, the AR or MR device is an AR or MR helmet, and the AR or MR helmet can be configured with more sensors, thereby making the virtual and real superposition effect better.

[0062] exist Figure 5 In the example provided, the retaining portion 313 is configured as a plurality of annular protrusions located at the distal end of the barrel 311 and surrounding the barrel 311. In this example, the operator can use the right hand to grasp and rotate the handle 2, thereby driving the pin 1 to puncture the human body. At the same time, the operator can use the left hand to operate the multiple annular protrusions of the retaining portion 313 to prevent the tracking pad 3 from rotating with the pin 1. The retaining portion 313 can also be used to fine-tune the angle of the tracking pad 3, thereby ensuring that the tracking pad 3 remains at a visible angle that can be tracked by tracking devices such as AR or MR.

[0063] In this embodiment, the inner wall of the barrel 311 of the operating sleeve 31 is provided with multiple annular structures, and correspondingly, the needle head 11 or the connecting assembly 4 is provided with multiple annular grooves. These multiple annular grooves cooperate with the multiple annular structures and, through the action of the elongated hole 312, achieve the interference fit between the barrel 311 and the needle head 11 or the connecting assembly 4 described in the previous embodiment. Simultaneously, when rotating the insertion nail 1 to puncture the human body, the operator can operate the retaining portion 313 to cause the annular structure to rotate relative to the annular groove, thereby achieving fixed or fine-tuning the angle of the tracking board 3.

[0064] In one embodiment, the tracking pad 33 is provided with a pattern that can be tracked by a tracking device such as an AR or MR device. In some embodiments, the pattern provided on the tracking pad 33 is a regular pattern or a pattern containing information. For example, the tracking pad 33 is a QR code pad, and the regular pattern or the pattern containing information is, for example, a QR code. In another example, the regular pattern can be formed by reflective balls arranged in rows and columns with equal spacing. In another example, the regular pattern is a black and white checkerboard pattern.

[0065] In one embodiment, the tracking board information such as the shape, size, and / or pattern corresponding to the tracking board 33 is pre-stored in a storage device of a tracking device such as AR or MR. A processing device of a tracking device such as AR or MR uses the pre-stored tracking board information and the image data collected by the tracking device such as AR or MR to identify the tracking board, so as to identify the tracking board and determine the position of the tracking board in the world coordinate system.

[0066] In one embodiment, the world coordinate system is determined based on the coordinate system of a device in a visual sensing system of a tracking device such as AR or MR. In one example, the world coordinate system is determined based on the coordinate system of a camera in the visual sensing system or based on the coordinate system of a depth sensor in the visual sensing system. For example, the origin and coordinate axes of the coordinate system of the camera in the visual sensing system when the tracking device such as AR or MR is turned on are used as the origin and coordinate axes of the world coordinate system. In the above embodiments, the description of the world coordinate system is limited to examples. In other examples, the origin and coordinate axes of the coordinate system of the AR or MR glasses body after the tracking device such as AR or MR is turned on for a preset time can also be used as the origin and coordinate axes of the world coordinate system.

[0067] In one embodiment, the tracking plate is mounted on a percutaneous pedicle puncture tracking device used to perform surgery on the patient's surgical site. The AR device can determine the position of the tracking plate in a world coordinate system using image data acquired by the visual sensing system. The position of the percutaneous pedicle puncture tracking device is determined using the fixed position of the tracking plate on the percutaneous pedicle puncture tracking device and the position of the tracking plate in the world coordinate system, thereby enabling tracking of the percutaneous pedicle puncture tracking device.

[0068] In one embodiment, a QR code pattern (not shown) is provided on the tracking plate 33. This QR code pattern can be read by a tracking device such as an AR or MR device, thereby enabling real-time positioning and monitoring of the tracking plate 33. Specifically, during surgery, the tracking device can track the position of the percutaneous pedicle puncture tracking device by reading the QR code pattern on the tracking plate 33, thereby ensuring that the screw 1 is inserted into the human body along the predetermined path.

[0069] In some examples, the two-dimensional code pattern is directly engraved on the surface of the tracking plate 33 facing the proximal side by laser printing, inkjet printing, or laser etching. In some examples, the two-dimensional code pattern can be affixed to the surface of the tracking plate 33 facing the proximal side in the form of a label. In other examples, the two-dimensional code pattern can be embedded in the surface of the tracking plate 33 facing the proximal side in the form of a two-dimensional code plate. In this example, the surface of the tracking plate 33 facing the proximal side has a groove, and the groove provides an installation space for the two-dimensional code plate. Of course, the two-dimensional code pattern can be configured on the tracking plate 33 in any form. The specific configuration method can be determined according to the actual surgical needs, and this application does not impose any restrictions on this.

[0070] It should be noted that, during percutaneous pedicle screw insertion surgery, on the one hand, the screw 1 may be micro-deformed due to stress, so repeated use may affect the accuracy of the surgery. On the other hand, the sterility of the screw 1 implanted in the human body must be guaranteed. However, even if the screw 1 is cleaned and disinfected after use, there is still a risk that contaminants cannot be completely removed, and repeated use may cause postoperative infection in the patient. Therefore, the screw 1 needs to be replaced after each use. In view of this, in certain embodiments disclosed in the present application, such as Figure 2 As shown, the percutaneous pedicle puncture tracking device also includes a connecting assembly 4. This connecting assembly 4 is connected between the screw 1 and the handle 2 and is used to mount the tracking element 3 and detachably secure the screw 1. The inclusion of the connecting assembly in the percutaneous pedicle puncture tracking device enables a detachable connection between the screw and the handle, facilitating screw replacement. This eliminates the need to replace the handle and tracking element while ensuring surgical sterility, thus reducing surgical costs.

[0071] In one embodiment, see Figure 6 and Figure 7 Combined with Figure 2 ,in, Figure 6 Shown is a schematic diagram of the structure of the connection components in one embodiment of the present application. Figure 7 The figure shows a schematic diagram of the disassembled structure of the connection assembly in one embodiment of the present application. As shown in the figure, the connection assembly 4 includes a core rod 41 and a sleeve 42. The core rod 41 is used to fix the connection handle 2 and the needle head 11 of the nail 1 into and engage the annular groove 111. The sleeve 42 is mounted on the core rod 41 and is used to externally mount the tracking member 3. The distal end of the sleeve 42 has a stopper 421.

[0072] As mentioned above, a plurality of annular structures are provided on the inner wall of the cylinder 311 of the tracking member 3. To match this, a plurality of annular grooves can be provided on the outer wall of the sleeve 42 of the connecting component 4. The plurality of annular grooves can cooperate with the plurality of annular structures and realize an interference fit between the cylinder 311 and the sleeve 42 under the action of the long hole 312 described in the aforementioned embodiment, thereby realizing the setting of the tracking member 3 on the sleeve 42.

[0073] In one embodiment, see Figure 8 , which is a schematic diagram of the structure of the core rod in one embodiment of the present application, as shown in FIG. Figure 8 As shown, the core rod 41 includes a pin portion 411 and a clamping sleeve 412. The pin portion 411 is used to fix the handle 2, and the clamping sleeve 412 is used to insert the needle head 11 of the nail 1. Figure 9 and Figure 10 ,in, Figure 9 Show this application Figure 8 A schematic cross-sectional view of the embodiment shown, Figure 10 Show this application Figure 9 A cross-sectional diagram of the embodiment of the present invention is shown. As shown in the figure, the inner side wall of the sleeve 412 is provided with a limiting groove 4121 for limiting the needle head 11, and at least two ball holes are provided between the limiting grooves 4121 for accommodating a locking ball respectively. The following description is based on the example of two ball holes provided on the limiting groove 4121. In this example, Figure 9 and Figure 10 As shown, the two ball holes are described as the first ball hole 4122 and the second ball hole 4123 respectively, and the two locking balls accommodated in the first ball hole 4122 and the second ball hole 4123 are described as the first locking ball 4124 and the second locking ball 4125 respectively. The first ball hole 4122 and the second ball hole 4123, and the first locking ball 4124 and the second locking ball 4125 will not be repeated later.

[0074] In one embodiment, if Figure 9 As shown, the first ball hole 4122 and the second ball hole 4123 are respectively located on two adjacent sides of the limiting groove 4121. That is, the angle formed by the line connecting the center of the first ball hole 4122 and the second ball hole 4123 and the axis of the limiting groove 4121 is 90°. Of course, in certain other embodiments, the first ball hole 4122 and the second ball hole 4123 can be located at any position of the limiting groove 4121. For example, the first ball hole 4122 and the second ball hole 4123 can be arranged opposite each other on the limiting groove 4121, as long as the center of the first ball hole 4122 and the second ball hole 4123 are located on the same circumferential surface of the ferrule 412.

[0075] In one embodiment, in order to achieve a fixed connection with the handle 2, the distal end of the handle 2 is provided with a slot for the pin portion 411 of the core rod 41 to pass through, as shown in FIG. Figure 7 As shown, the core rod 41 is provided with a connection hole 413. To match, the handle 2 is provided with a hole structure adapted to the connection hole 413. After the latch portion 411 of the core rod 41 passes through the slot on the handle 2, the connection hole 413 and the hole structure can be fixed by a connector, thereby achieving a fixed connection between the core rod 41 and the handle 2. In one example, the connection hole 413 and the hole structure can both be configured as screw holes, and the connector can be configured as a screw. In certain other embodiments, the core rod 41 and the handle 2 can be connected by a snap or fixed connection. Those skilled in the art can design a specific connection method between the core rod and the handle based on the inspiration of this application.

[0076] As mentioned above, the needle head 11 is configured in a square shape. In order to allow the needle head 11 of the nail 1 to be inserted into the sleeve 412, in one embodiment, the limiting groove 4121 is also configured in a square shape to facilitate the connection between the core rod 41 and the nail 1. In addition, the matching of the square structure can provide a higher torque transmission effect for the nail 1 to be rotated and inserted into the human body. In this embodiment, the handle 2 is sleeved on the pin portion 411 at the proximal end of the core rod 41, and the sleeve 412 of the core rod 41 is sleeved on the needle head 1 of the nail 1. In this way, the handle 2, the core rod 41, and the nail 1 can be fixedly connected. It should be noted that the above example is only an exemplary description. In actual application, the needle head 11 can be matched with the limiting groove 4121 in any form to achieve the connection between the core rod 41 and the nail 1.

[0077] In one embodiment, to achieve a detachable connection of the nail 1, as shown in FIG. Figure 7 As shown, the connecting assembly 4 also includes a stopper 43 which is sleeved on the core rod 41 and located between the pin portion 411 and the clamping sleeve 412 and is used to press the first clamping ball 4124 and the second clamping ball 4125 into the first ball hole 4122 and the second ball hole 4123, and an elastic member 44 which is sleeved on the clamping sleeve 412 of the core rod 41 and is restricted between the stopper 43 and the limiting portion 421 of the sleeve 42.

[0078] In one embodiment, the stop member 43 is configured as an annular structure, the diameter of which is larger than the diameter of the sleeve 412. It is sufficient as long as the first locking ball 4124 and the second locking ball 4125 can be pressed into the first ball hole 4122 and the second ball hole 4123 so that they will not detach from the first ball hole 4122 and the second ball hole 4123.

[0079] See also Figures 11 to 13, respectively, illustrate schematic diagrams of a state in which a pin is detachably connected to a connecting assembly in one embodiment of the present application. As shown, a stopper 421 is formed on the sleeve 42 and is integrally formed therewith. In this embodiment, the stopper 43, the inner wall of the sleeve 42, and the stopper 421 form an enclosed space that restricts the elastic member 44, allowing the elastic member 44 to perform telescopic movement within this enclosed space. In one example, the elastic member 44 can be configured as a spring.

[0080] The following combination Figures 11 to 13 The installation and removal of the counter-pin 1 in the connecting assembly 4 will be described in detail.

[0081] First, if Figure 11 As shown, the operator can use his left hand to push the stopper 43 toward the proximal end, and at the same time use his right hand to insert the nail 1 into the limiting groove 4121 of the clamping sleeve 412. At this time, the stopper 43 and the nail 1 are moved along the Figure 11 Move in the direction of the dotted arrow to form Figure 12 Furthermore, since the stopper 43 drives the sleeve 42 to move, the closed space limiting the elastic member 44 is reduced, and the elastic member 44 is compressed.

[0082] Then, when the annular groove 111 on the nail 1 moves to Figure 12 In the state shown, due to the movement of the stopper 43, the first card ball 4124 and the second card ball 4125 (the second card ball 4125 is not shown) can be separated from the pressure of the stopper 43. At this time, the inner wall of the sleeve 42 can provide a certain movement space for the first card ball 4124 and the second card ball 4125, so that the first card ball 4124 and the second card ball 4125 can move in the direction away from the nail 1 without being separated from the first ball hole 4122 and the second ball hole 4123, thereby forming Figure 12 The status shown.

[0083] The operator can then continue inserting the nail 1 to the end of the retaining groove 4121. At this point, the first retaining ball 4124 and the second retaining ball 4125 precisely engage with the annular retaining groove 111 on the nail 1. Finally, the operator can remove the force applied to the stopper 43. The elastic restoring force generated by the compression of the elastic member 44 causes the sleeve 42 and the stopper 43 to return to their initial state. At this point, the stopper 43 once again presses the first retaining ball 4124 and the second retaining ball 4125 through the first ball hole 4122 and the second ball hole 4123 onto the annular retaining groove 111. In this way, the nail 1 and the connecting assembly 4 are installed.

[0084] When it is necessary to detach the nail 1 from the connecting assembly 4, the operator only needs to move the stopper 43 toward the proximal end and pull the nail 1 out of the limiting groove 4121. The specific process will not be repeated here.

[0085] In summary, in order to overcome the technical problem in the related art that the pedicle opening cone cannot be tracked by the navigation device, resulting in increased operation time and low surgical efficiency, the percutaneous pedicle puncture tracking device provided in the present application can provide the operator with a grip to operate the screw placement to perform percutaneous pedicle puncture by providing a handle connected to the screw placement. By providing a tracking member at the needle head of the screw placement, the screw placement can be tracked by tracking devices such as AR or MR during puncture, so that the preoperative virtual model and the real scene can be quickly superimposed and displayed in the surgical scene, thereby improving the surgical efficiency. In addition, by connecting the connecting component between the screw placement and the handle, a detachable connection between the screw placement and the handle is achieved, which facilitates the replacement of the screw placement, avoids the replacement of the handle and the tracking member while ensuring the sterility of the operation, and saves surgical costs.

[0086] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A percutaneous pedicle puncture tracking device, characterized in that: include: The nail placement device comprises a needle head portion located at the proximal end, a needle body portion extending toward the distal end, and a needle tip portion located at the distal end of the needle body portion; A handle connected to the needle head for providing a grip to operate the screw placement to perform percutaneous pedicle puncture; The tracking part is arranged adjacent to the needle head, including an operating sleeve mounted on the needle head, a bracket arranged on the operating sleeve, and a tracking plate arranged on the top of the bracket for identification, and the plane of the tracking plate is perpendicular to the axis of the needle body.

2. The percutaneous pedicle puncture tracking device according to claim 1, characterized in that: The handle includes a handle body, a grasping portion formed on a proximal end side of the handle body, and a finger grip portion formed on a distal end side of the handle body.

3. The percutaneous pedicle puncture tracking device according to claim 1, characterized in that: It also includes a connecting component connected between the nail and the handle for arranging the tracking member and detachably fixing the nail.

4. The percutaneous pedicle puncture tracking device according to claim 3, characterized in that: The needle head of the nail placement device has an annular groove corresponding to the connecting component.

5. The percutaneous pedicle puncture tracking device according to claim 4, characterized in that: The connecting assembly includes a core rod for fixedly connecting the handle and for inserting the needle head of the nail placement into and engaging with the annular groove, and a sleeve sleeved on the core rod for externally arranging the tracking member, and the distal end of the sleeve has a limiting portion.

6. The percutaneous pedicle puncture tracking device according to claim 5, characterized in that: The core rod includes a pin portion for fixedly connecting the handle, and a sleeve for inserting the needle head of the nail-setting device. The inner side wall of the sleeve is provided with a limiting groove for limiting the needle head, and at least two ball holes for respectively accommodating a card ball are provided between the limiting grooves; the connecting assembly also includes a stopper which is sleeved on the core rod and located between the pin portion and the sleeve for pressing the card ball into the ball hole, and an elastic member which is sleeved on the sleeve of the core rod and limited between the stopper and the limiting portion of the sleeve.

7. The percutaneous pedicle puncture tracking device according to claim 1, characterized in that: A plurality of long holes are provided on the cylindrical body of the operating sleeve so that the operating sleeve has elastic restoring force.

8. The percutaneous pedicle puncture tracking device according to claim 1, characterized in that: The distal end of the cylindrical body of the operating sleeve has a holding portion for hand-held operation to keep the tracking board at a trackable angle.

9. The percutaneous pedicle puncture tracking device according to claim 1, characterized in that: A QR code pattern is provided on the tracking board.

10. The percutaneous pedicle puncture tracking device according to claim 1, characterized in that: The cross-sectional diameter of the needle body of the nail placement is 2.0mm-7.0mm; the length of the nail placement is 50mm-120mm.

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