Split kirschner wire and kit for orthopedic surgical robot

Abstract

The utility model provides a split type kirschner wire and a kit for an orthopedic surgery robot, and belongs to the technical field of kirschner wires, the split type kirschner wire comprises a front kirschner wire body used for puncturing bones and a rear kirschner wire body used for being connected with an end effector of the orthopedic surgery robot, the front kirschner wire body is detachably connected with the rear kirschner wire body. Compared with Kirschner wire bending operation in the prior art, after the split type Kirschner wire is driven into the human body, the front Kirschner wire body with the proper length can be obtained more conveniently and safely, the problem of positioning displacement or loss caused by excessive pulling of the Kirschner wire is solved, and the Kirschner wire is more convenient to use. After the front kirschner wire body is detached and separated, due to the fact that the connecting end of the front kirschner wire body is smooth and clean, follow-up balloon dilatation kyphoplasty or pedicle screw implanting operation is facilitated, operation risks are reduced, and related operation operations can be carried out more safely, more reliably and more conveniently.

Description

Technical Field

[0001] This utility model relates to a Kirschner wire, specifically a split Kirschner wire and kit for use in orthopedic surgical robots. Background Technology

[0002] Spinal fixation surgery, percutaneous kyphoplasty, and percutaneous vertebroplasty are all common surgical procedures in spinal surgery, used to treat various spinal diseases.

[0003] Kirschner wires, also known as bone traction wires, positioning wires, guide wires, and fixation wires, are commonly used medical instruments in the aforementioned orthopedic surgeries. During these surgeries, after locating the human skeleton, an orthopedic surgical robot is typically used to insert Kirschner wires into the bone to provide a reference for subsequent surgical procedures, such as guiding cannulated screws. However, to ensure the stability and reliability of inserting Kirschner wires into the bone, the end effector of the robot is usually quite long, and the Kirschner wires used with it are also therefore relatively long.

[0004] In practical use, several problems can easily arise. For example, after the Kirschner wire is inserted, an imaging system is needed to confirm its insertion position. Longer Kirschner wires are more likely to cause more obstruction during imaging. After the Kirschner wire is inserted into the bone, the end effector of the robot needs to be withdrawn in order to perform imaging and subsequent surgical operations. Longer Kirschner wires result in a longer withdrawal stroke, which is not conducive to the stable and reliable withdrawal of the robot and will increase the operation time. Usually, more than one Kirschner wire is inserted into the bone during the operation. After the longer Kirschner wire is inserted into the bone, its exposed part is prone to bending and is not easy to maintain stable positioning, which can easily cause interference in subsequent clinical operations such as inserting other Kirschner wires.

[0005] In related technologies, during robotic orthopedic surgery, the operator bends the Kirschner wire after insertion to allow the surgery to continue. This bending operation requires significant force and carries certain clinical risks, such as increased tissue damage or misalignment of the Kirschner wire, affecting its positioning accuracy. If the wire misalignment is severe, a second insertion may be necessary. However, due to the influence of the bone tunnel during the initial insertion, precise and stable insertion is more difficult. In such cases, the surgeon must rely on experience to insert the pedicle screw, which tests their skill and carries the risk of nerve damage.

[0006] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Utility Model Content

[0007] Purpose of the utility model: The technical problem to be solved by this utility model is to address the shortcomings of the existing technology by providing a split Kirschner wire and kit for orthopedic surgical robots, which facilitates subsequent use and reduces surgical risks.

[0008] To address the aforementioned technical problems, this utility model discloses a split Kirschner wire for orthopedic surgical robots, comprising a front Kirschner wire body for puncturing bone and a rear Kirschner wire body for connecting to the end effector of the orthopedic surgical robot, wherein the front Kirschner wire body and the rear Kirschner wire body are detachably connected.

[0009] Specifically, a threaded joint is provided between the front Kirschner needle body and the rear Kirschner needle body; the threaded joint includes a male thread portion and a female thread portion, the male thread portion includes an external thread section, and the female thread portion includes an internal thread section that is adapted to the thread of the external thread section; the male thread portion is formed on either the front Kirschner needle body or the rear Kirschner needle body, and the female thread portion is formed on the remaining one of the front Kirschner needle body and the rear Kirschner needle body.

[0010] Specifically, the male thread is formed at the front end of the rear Kirschner wire body, and the female thread is formed at the rear end of the front Kirschner wire body; the threads of the external thread section and the internal thread section are single-start threads, double-start threads, or triple-start threads.

[0011] Furthermore, the male thread portion also includes a guide section, which is disposed at one end of the external thread portion near the screw-in direction of the female thread portion; the guide section is made of an elastic material, and when the threaded joint is screwed in, the guide section abuts against the female thread portion.

[0012] Furthermore, the male thread portion also includes a first transition section and a second transition section. The first transition section is disposed between the guide section and the external thread section, and the first transition section is a spring structure. The second transition section is disposed at the end of the external thread section away from the guide section.

[0013] Specifically, the front Kirschner needle body includes a needle head, and the needle head and the threaded connector are respectively located at opposite ends of the front Kirschner needle body along its length direction;

[0014] The needle head is a threaded triangular needle head, including a cylindrical needle body. The outer wall of the needle body has an external thread. The front end of the needle body has a first slit, a second slit, and a third slit. The first slit, the second slit, and the third slit are distributed circumferentially along the needle body and enclose a triangular pyramid. The intersection of any two adjacent first slits, the second slit, and the third slit constitutes one edge of the triangular pyramid. The intersection point of the three edges of the triangular pyramid is located on the central axis of the needle body.

[0015] Specifically, the rear Kirschner wire body includes a gripping section for gripping by the robot's end effector, the gripping section being cylindrical in shape; the gripping section is located at the rear end of the rear Kirschner wire body;

[0016] Alternatively, the rear end of the posterior Kirschner wire body is formed with a quick-connect fitting for connection with the end effector of the orthopedic surgical robot.

[0017] Furthermore, the connection between the front Kirschner wire and the rear Kirschner wire is provided with a docking mark for identifying the connection; the sidewalls of the front Kirschner wire and the rear Kirschner wire are formed with length marks for reading the Kirschner wire insertion depth.

[0018] Specifically, a pluggable snap-fit ​​connector is provided between the front Kirschner wire body and the rear Kirschner wire body; the pluggable snap-fit ​​connector includes a female pluggable head and a male pluggable head that can be snapped together, the female pluggable head is formed on either the front Kirschner wire body or the rear Kirschner wire body, and the male pluggable head is formed on the remaining one of the front Kirschner wire body and the rear Kirschner wire body;

[0019] The male connector includes a connecting portion, crossbeam arms, and a protruding structure. Two crossbeam arms are provided and arranged opposite each other. One end of each crossbeam arm is connected to the end of the connecting portion near the insertion direction of the female connector. The other end of each crossbeam arm extends in a direction away from the insertion direction of the female connector, and a protruding structure is provided on the outer side of the other end of each crossbeam arm. The female connector includes a receiving groove matching the shape of the connecting portion. A step is provided inside the receiving groove for hooking and engaging with the protruding structure. The connecting portion has a rectangular cross-section, and the protruding structure is a spherical protrusion.

[0020] A second aspect of this invention provides a split Kirschner wire kit for orthopedic surgical robots, comprising:

[0021] The split Kirschner wire for orthopedic surgical robots as described above includes a front Kirschner wire body and a rear Kirschner wire body.

[0022] And one or more adapter needle bars, the adapter needle bar including a front end connection portion that can be detachably connected to the rear end of the front Kirschner needle body and a rear end connection portion that can be detachably connected to the rear Kirschner needle body.

[0023] Beneficial effects:

[0024] 1. By designing the Kirschner wire used in orthopedic surgical robots as a separate unit and allowing the two parts to be detachably connected, the disassembly and separation method avoids excessive traction on the Kirschner wire compared to the bending operation of the Kirschner wire in related technologies. Furthermore, the front Kirschner wire body retained in the bone after separation is smooth and burr-free at the connection end exposed outside the human tissue, which is conducive to subsequent use, such as inserting pedicle screws. This reduces surgical risks and makes related surgical operations safer, more reliable, and more convenient.

[0025] 2. For split Kirschner wires connected by threads, double or triple threads can be used to speed up the screwing in and out of the threads, so that the end effector of the orthopedic surgical robot can be withdrawn more quickly during robotic surgery.

[0026] 3. For split Kirschner wires connected by threads, the guide section makes it easier to align the male thread of the threaded connector with the female thread.

[0027] 4. For split Kirschner wires connected by threads, the first transition section can be designed with elasticity, such as a spring section, or the guide section and / or the first transition section can be made of elastic materials such as silicone. When the guide section abuts against the bottom of the threaded hole on the corresponding female thread, it generates a reaction force, which makes it easy to unscrew and thus avoids the Kirschner wire from shifting due to force during the unscrewing process of the threaded joint.

[0028] 5. For split Kirschner wires connected by threads, the tightness of the fit can be reduced by setting a certain gap between the threads of the external thread section and the internal thread section in the thread height direction, which reduces the difficulty of unscrewing and thus prevents the Kirschner wire from shifting under force during the unscrewing process of the threaded joint.

[0029] 6. By setting the needle head of the front Kirschner wire body to adopt a threaded triangular needle head, this needle head structure can reduce the compression of the Kirschner wire head on the bone block, increase the holding force with the bone block, and expand the application scenarios of the Kirschner wire.

[0030] 7. A quick-connect connector is formed at the rear end of the Kirschner wire body to facilitate quick connection with the orthopedic surgical robot.

[0031] 8. This utility model adds multiple adapter needle rods to form a kit with the front and rear Kirschner wire bodies. By selecting appropriate adapter needle rods during surgery, the length of the Kirschner wire portion inserted into the human body after separation can be precisely controlled to extend beyond the human tissue. Attached Figure Description

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0033] Figure 1An exploded view of the split Kirschner wire for an orthopedic surgical robot provided in the first embodiment of this utility model;

[0034] Figure 2 for Figure 1 The diagram shows the structure of the split Kirschner wires after they are screwed together.

[0035] Figure 3 for Figure 1 The diagram shows the structure of the split Kirschner wire when the threaded connector is separated.

[0036] Figure 4 This is a schematic diagram of the structure when the threaded joint with the male threaded portion formed at the front end of the rear Kirschner wire body is separated.

[0037] Figure 5 for Figure 4 The main sectional view of the threaded connector shown;

[0038] Figure 6 This is a front view of the male thread section with double threads;

[0039] Figure 7 for Figure 6 The left view of the male thread section with double threads shown;

[0040] Figure 8 This is a front view of the male thread section with a triple thread.

[0041] Figure 9 for Figure 8 The left view of the male thread section with three threads shown;

[0042] Figure 10 This is a schematic diagram showing a certain gap between the external thread section and the internal thread section in the thread height direction;

[0043] Figure 11 The front view of the male threaded portion of the first transition section, which uses a spring structure;

[0044] Figure 12 A schematic diagram of a threaded triangular needle head;

[0045] Figure 13 This is a partially enlarged view of the structure of the quick-connect fitting for the rear Kirschner wire body in the first embodiment.

[0046] Figure 14 This is a partially enlarged view of the structure of the second embodiment of the quick-connect fitting for the rear Kirschner wire body;

[0047] Figure 15 This is a partially enlarged view of the structure of the third embodiment of the quick-connect fitting for the rear Kirschner wire body;

[0048] Figure 16A schematic diagram of a split Kirschner wire assembly that simultaneously has docking marks and length marks;

[0049] Figure 17 This is a schematic diagram of the structure after the pluggable snap-fit ​​connector has been removed;

[0050] Figure 18 This is a front sectional view after the pluggable snap-fit ​​connector has been removed;

[0051] Figure 19 This is a front sectional view of the pluggable snap-fit ​​connector after it has been inserted.

[0052] Figure 20 This is a schematic diagram of a structure in which the front Kirschner needle body, the adapter needle bar, and the rear Kirschner needle body are detachably connected end to end.

[0053] Figure 21 This is a photograph of the threaded joint when the male threaded portion is formed at the front end of the rear Kirschner wire body.

[0054] The accompanying labeling is as follows:

[0055] 100. Front Kirschner needle body; 110. Needle head; 111. Needle body; 1111. First cross-section; 1112. Second cross-section; 1113. Third cross-section; 200. Rear Kirschner needle body; 211. Holding section; 212. Quick-connect fitting; 300. Threaded fitting; 310. Male threaded section; 320. Female threaded section; 311. External threaded section; 321. Internal threaded section; 312. Guide section; 313. First transition section; 314. Second transition section; 400. Butt joint mark; 500. Length mark; 600. Pluggable snap-fit ​​fitting; 610. Plug-in female head; 611. Receiving groove; 612. Step; 620. Plug-in male head; 621. Connecting part; 622. Crossbeam arm; 623. Protruding structure. Detailed Implementation

[0056] In related technologies, during robotic orthopedic surgery, the operator bends the Kirschner wire after insertion to allow the surgery to continue. This bending operation requires significant force and carries certain clinical risks, such as increased tissue damage or misalignment of the Kirschner wire, affecting its positioning accuracy. If the wire misalignment is severe, a second insertion may be necessary. However, due to the influence of the bone tunnel during the initial insertion, precise and stable insertion is more difficult. In such cases, the surgeon must rely on experience to insert the pedicle screw, which tests their skill and carries the risk of nerve damage.

[0057] An embodiment of this utility model provides a split Kirschner wire for orthopedic surgical robots, which has a two-part structure. Combined with... Figure 1 and Figure 2As shown, the split Kirschner wire includes a front Kirschner wire body 100 for puncturing bone and a rear Kirschner wire body 200 for connecting to the end effector of an orthopedic surgical robot. The front Kirschner wire body 100 and the rear Kirschner wire body 200 are coaxial and detachably connected.

[0058] Example 1

[0059] Combination Figure 1 As shown, in this example, a threaded connector 300 is provided between the front Kirschner needle body 100 and the rear Kirschner needle body 200. The front Kirschner needle body 100 and the rear Kirschner needle body 200 are detachably connected by the threaded connector 300.

[0060] Combination Figure 3 As shown, the threaded connector 300 includes a male threaded portion 310 and a female threaded portion 320. The male threaded portion 310 includes an external thread section 311, and the female threaded portion 320 includes an internal thread section 321 that is thread-matched to the external thread section 311.

[0061] The male thread portion 310 can be formed on either the front Kirschner wire body 100 or the rear Kirschner wire body 200, while the female thread portion 320 is formed on the remaining one of the front Kirschner wire body 100 and the rear Kirschner wire body 200. Specifically, in combination with Figure 4 and Figure 5 As shown, when the outer diameter of the front Kirschner wire 100 is smaller than the outer diameter of the rear Kirschner wire 200, preferably, as... Figure 4 and Figure 21 As shown, the male thread portion 310 is formed on the front end section of the rear Kirschner needle body 200, while the female thread portion 320 is formed on the rear end section of the front Kirschner needle body 100. This maximizes the outer diameter of the thread, thereby increasing the holding strength of the two needle bodies and reducing machining difficulty and costs.

[0062] The threads of the external thread section 311 and the internal thread section 321 are single threads, i.e., ordinary threads.

[0063] Preferably, both the external thread section 311 and the internal thread section 321 are double threads, such as... Figure 6 and Figure 7 As shown, or all are three-threaded, such as Figure 8 and Figure 9 As shown.

[0064] This embodiment uses double or triple threads to accelerate the screwing in and out of the threads, allowing the front and rear ends of the split Kirschner wire to separate more quickly during robotic surgery, thus reducing surgical time.

[0065] Combination Figure 5As shown, the male thread portion 310 also includes a guide section 312, which is disposed at the end of the external thread portion 311 near the screw-in direction of the female thread portion 320. More specifically, the guide section 312 may be a conical guide head.

[0066] Combination Figure 5 As shown, the male thread portion 310 also includes a first transition section 313, which is disposed between the guide section 312 and the external thread section 311. The guide section 312, the first transition section 313, and the external thread section 311 are connected end to end in sequence. In this embodiment, the first transition section 313 is provided to improve the stability of thread insertion and removal.

[0067] Combination Figure 5 As shown, the male thread portion 310 also includes a second transition section 314, which is located at the end of the external thread portion 311 away from the guide section 312. The second transition section 314 is truncated cone-shaped, with the smaller end of the truncated cone closer to the guide section 312 than its larger end. Figure 5 As shown, the second transition section 3141 connects the external thread section 311 and the shank 200, providing a smooth transition and preventing stress concentration that could lead to fracture. The opening of the internal thread section 321 has a corresponding matching chamfer for easy guiding screwing in.

[0068] Along the length of the external thread section 311, the guide section 312, the first transition section 313, the external thread section 311, and the second transition section 314 are connected in sequence.

[0069] The orthopedic surgical robot propels the assembled Kirschner wire along its insertion path by rotating it. During this process, to prevent the threaded connector from easily coming loose, the direction of the thread in the threaded connector 300 should be consistent with the rotation direction of the Kirschner wire as it enters the bone. For example, if the Kirschner wire is inserted clockwise, a right-hand thread is used in the threaded connector 300; conversely, if the Kirschner wire is inserted counterclockwise, a left-hand thread is used.

[0070] The insertion of Kirschner wires into the bone will cause the threads of the connecting section to continue to be tightened, thus increasing the difficulty of separation.

[0071] In some embodiments, combined with Figure 10 As shown, a certain gap is formed between the threads of the external thread section 311 and the internal thread section 321 in the thread height direction to reduce the tightness of the fit and reduce the difficulty of unscrewing. Specifically, except for the last two threads which are of ordinary thread type due to their loose fit, the remaining thread types are appropriately reduced.

[0072] The anti-tightening working principle of this embodiment is as follows: (combined with...) Figure 10 As shown, when tightening the external thread section 311 and the internal thread section 321, refer to... Figure 10As shown in the circled area, only the two rightmost threads are tightly joined together, while the remaining threads on the left are not tightly joined and have a certain gap. This makes the fit clearance after the threads are tightened larger than that of conventional threads, making it difficult to tighten them completely.

[0073] In other embodiments, combined with Figure 11 As shown, the first transition section 313 adopts an elastic design, such as a spring structure, or the guide section 312 and / or the first transition section 313 are made of elastic materials such as silicone, so that when the guide section 312 abuts against the bottom of the threaded hole on the corresponding female thread portion 320, a reaction force is generated, making it easy to unscrew. The spring or elastic material can be integrated with the external thread section 311 by means of interference fit, welding, etc.

[0074] The anti-tightening working principle of this embodiment is as follows: after the external thread section 311 is screwed in, the axial pushing force generated by the elastic material offsets part of the force exerted by the internal thread section 321 on the external thread section 311 after tightening, thereby playing the role of preventing tight tightening.

[0075] During orthopedic surgical robot surgery, the specialized torque sensor can control the screwing torque below the limit of the corresponding Kirschner wire specification, which is less likely to cause the mating parts to be too tight, and facilitates a good experience of screwing and disengaging.

[0076] The front Kirschner wire body 100 of this invention is configured to puncture bone. Specifically, in conjunction with the attached... Figure 1 As shown, the front Kirschner needle body 100 includes a needle head 110, and the needle head 110 and the threaded connector 300 are located at opposite ends of the front Kirschner needle body 100 along its length direction.

[0077] In some embodiments of the needle head 110, the needle head 110 may adopt a triangular needle head structure. The triangular needle head structure is easy to insert and remove, and is suitable for applications involving temporary fixation and simple traction. Since the specific configuration of the triangular needle head structure is prior art, it will not be described in detail here.

[0078] In other embodiments of the needle head 110, combined with Figure 12 As shown, the needle head 110 adopts a threaded triangular needle head, including a cylindrical needle body 111. The outer wall of the needle body 111 has an external thread, and the direction of the external thread of the needle body 111 is consistent with the direction of the thread of the threaded connector 300. The end of the needle body 111 has a first sectional surface 1111, a second sectional surface 1112, and a third sectional surface 1113. The first sectional surface 1111, the second sectional surface 1112, and the third sectional surface 1113 are distributed circumferentially along the needle body 111 and enclose a triangular pyramid. The intersection line of any two adjacent first sectional surfaces 1111, 1112, and 1113 constitutes one edge of the triangular pyramid.

[0079] The threaded triangular needle tip of this embodiment can reduce the compression of the bone block by the Kirschner wire head 110, increase the holding force with the bone block, and expand the application scenarios of the Kirschner wire, such as achieving a better holding effect on cancellous bone.

[0080] Preferably, the intersection of the three edges of the triangular pyramid is located on the central axis of the needle body 111.

[0081] The Kirschner wire of this invention is connected to the end effector of a robot via the rear Kirschner wire body 200 and is driven to move by the end effector of the robot, for example, to drive the front Kirschner wire body 100 into the bone.

[0082] In some embodiments of the posterior Kirschner wire body 200, combined with Figure 1 As shown, the rear Kirschner wire body 200 includes a gripping section 211 for gripping by the robot's end effector. The gripping section 211 is cylindrical. The gripping section 211 can be located at the rear end of the rear Kirschner wire body 200.

[0083] In other embodiments of the posterior Kirschner wire body 200, such as Figures 13 to 15 As shown, the rear end of the posterior Kirschner wire body 200 is provided with a quick-connect connector 212, such as a single-plane connector, a double-plane connector, or a triangular connector. It should be understood that, correspondingly, the end effector of the orthopedic surgical robot is provided with a corresponding quick-connect port. It should also be understood that the quick-connect connector 212 of the posterior Kirschner wire body 200 of this application can be matched with the quick-connect port of an electric drill to allow the Kirschner wire to be screwed in using an electric drill.

[0084] It should be understood that the length of the rear Kirschner wire body 200 should meet the clamping requirements of the robot's end effector, allowing the robot to operate the assembled Kirschner wire by clamping the rear Kirschner wire body 200. In a specific embodiment, the length of the rear Kirschner wire body 200 ranges from 100mm to 400mm.

[0085] To accommodate different body sizes and surgical sites, the length of the pre-Kirchen wire body 100 ranges from 50mm to 300mm, and the diameter of the assembled Kirschner wires ranges from 0.8mm to 5mm.

[0086] Combination Figure 16As shown, a docking mark 400 for identifying the connection between the front Kirschner needle 100 and the rear Kirschner needle 200 can be provided at the joint for easy operation. In some embodiments, the docking mark 400 can be formed by laser marking or color marking. In other embodiments, the docking mark 400 is a radiopaque mark, such as an X-ray radiopaque ring. The X-ray radiopaque ring is nested near the joint between the front Kirschner needle 100 and the rear Kirschner needle 200. The front Kirschner needle 100 and the rear Kirschner needle 200 can each be provided with the X-ray radiopaque ring, or the X-ray radiopaque ring can be provided on only one of the front Kirschner needle 100 and the rear Kirschner needle 200.

[0087] This embodiment utilizes docking marks 400 that can be visualized under X-rays, allowing the operator to clearly distinguish the separation positions under X-ray imaging equipment, which facilitates reference for subsequent surgical planning.

[0088] Combination Figure 16 As shown, both the sidewalls of the anterior Kirschner wire body 100 and the sidewalls of the posterior Kirschner wire body 200 can be marked with length 500 to facilitate intuitive reading of the Kirschner wire insertion depth and to facilitate the selection of the length of orthopedic implant products such as pedicle screws in subsequent surgical operations.

[0089] It should be understood that the length mark 500 and the docking mark 400 used to identify the connection can be set as needed; one can be set or both can be set.

[0090] The following is a detailed description of the method of using Kirschner wires in orthopedic surgery using an orthopedic surgical robot according to this embodiment.

[0091] Orthopedic surgery can be any of the following: spinal fixation surgery, percutaneous kyphoplasty, and percutaneous vertebroplasty.

[0092] Before inserting the Kirschner wire, the front Kirschner wire body 100 and the rear Kirschner wire body 200 are pre-connected together by the threaded joint 300, that is, the Kirschner wire is in a combined state.

[0093] After the anterior Kirschner wire 100 is inserted into place, it is fixed in place by clamping forceps and other fixing tools. Then, the orthopedic surgical robot drives the posterior Kirschner wire 200 to rotate in the opposite direction and move out in a direction away from the anterior Kirschner wire 100, thereby separating the anterior Kirschner wire 100 from the posterior Kirschner wire 200. The end effector of the robot that is separated from the posterior Kirschner wire 200 can then quickly exit the surgical position.

[0094] The pre-Kirchen needle body 100 retained on the bone after separation can be embedded under the muscle tissue to ensure stable and reliable positioning, and without interfering with subsequent surgical procedures such as radiography, clamping, and clinical procedures.

[0095] The anterior Kirschner wire 100 retained on the bone after separation may not be completely buried under the muscle tissue, and its length may be appropriately exposed to the human tissue to facilitate subsequent guidance and other operations.

[0096] Compared to bending or cutting operations in related technologies, separating the anterior Kirschner wire body 100 and the posterior Kirschner wire body 200 using an orthopedic surgical robot does not introduce any risks and is simpler to perform. Furthermore, since the tail section of the Kirschner wire is not bent, the posterior Kirschner wire body 200 can be reused subsequently to save costs.

[0097] The anterior Kirschner wire 100 that remains on the bone after separation can also be connected to a posterior Kirschner wire 200 of other sizes or as required, to extend its length or expand its other functions.

[0098] Example 2

[0099] Unlike the threaded connection in Embodiment 1, a pluggable snap-fit ​​connector 600 is provided between the front Kirschner needle body 100 and the rear Kirschner needle body 200. The front Kirschner needle body 100 and the rear Kirschner needle body 200 are detachably connected via the pluggable snap-fit ​​connector 600.

[0100] This embodiment uses a pluggable snap-fit ​​connector 600, which, compared to the threaded connector 300, allows for direct pulling without rotation, resulting in a faster removal effect.

[0101] Combination Figure 17 , Figure 18 and Figure 19 As shown, the pluggable snap-fit ​​connector 600 includes a female connector head 610 and a male connector head 620 that can snap together. The male connector head 620 includes a connecting portion 621, a crossbeam arm 622, and a protruding structure 623. The connecting portion 621 has a rectangular cross-section, preferably square. There are two crossbeam arms 622 arranged opposite to each other. One end of each crossbeam arm 622 is connected to the end of the connecting portion 621 near the insertion direction of the female connector head 610, and the other end of each crossbeam arm 622 extends in a direction away from the insertion direction of the female connector head 610. A protruding structure 623 is provided on the outer side of the other end of each crossbeam arm 622. The protruding structure 623 can be a spherical protrusion.

[0102] Combination Figure 19 As shown, the female head 610 includes a receiving groove 621 that matches the shape of the connecting part 621, and a step 622 is provided on the inner side of the receiving groove 621 for engaging with the hook of the protruding structure 623.

[0103] It should be understood that the female connector head 610 can be formed on either the front Kirschner wire body 100 or the rear Kirschner wire body 200, while the male connector head 620 is formed on the remaining one of the front Kirschner wire body 100 and the rear Kirschner wire body 200. Specifically, when the outer diameter of the front Kirschner wire body 100 is smaller than that of the rear Kirschner wire body 200, preferably, the male connector head 620 is formed on the front end of the rear Kirschner wire body 200, and the female connector head 610 is formed on the rear end of the front Kirschner wire body 100.

[0104] The male connector 620 can be made of stainless steel, but is preferably made of nickel-titanium alloy, PEEK, or other materials to enhance its mating effect. Specifically, these materials can increase the elasticity of the male connector 620, facilitating separation of the two parts. PEEK material also makes it easier to identify the location of the connection point in the imaging system.

[0105] Example 3

[0106] This embodiment provides a split Kirschner wire kit for an orthopedic surgical robot. The kit includes a split Kirschner wire for an orthopedic surgical robot as described in the above embodiment and one or more adapter pin bars 700. The adapter pin bar 700 includes a front connecting portion that can be detachably connected to the rear end of the front Kirschner wire body 10 and a rear connecting portion that can be detachably connected to the rear Kirschner wire body 200.

[0107] The detachable connection method in this embodiment 3 can be the same as the detachable connection method in embodiment 1 or embodiment 2, so it will not be described in detail here.

[0108] If, during the procedure, the selected front Kirschner wire body 100 has been inserted to the desired length but has not yet reached the target position, the front and rear Kirschner wire bodies 100 can be disassembled and separated. A suitable adapter rod 700 of appropriate length can then be connected between the front and rear Kirschner wire bodies 100. Figure 20 As shown; then the assembly of the front Kirschner needle body 100, the adapter needle bar 700, and the rear Kirschner needle body 100 continues to rotate and be inserted into the human tissue. After the tip of the front Kirschner needle body 100 reaches the target position, the movement of the assembly is stopped, and then the adapter needle bar 700 and the rear Kirschner needle body 100 are separated.

[0109] In this application, a suitable length of the adapter needle bar 700 refers to the portion of the adapter needle bar 700 that remains outside the human tissue after separation, provided that the length meets the specified requirements.

[0110] To precisely control the length of the adapter needle bar 700 portion remaining outside the human tissue after separation, multiple adapter needle bars 700 of varying lengths can be provided. Furthermore, each adapter needle bar 700 can also have directly provided graduations for marking its length, further facilitating user selection. If necessary, multiple adapter needle bars 700 can be connected between the front Kirschner wire body 100 and the rear Kirschner wire body 100.

[0111] This invention provides a concept and method for a split Kirschner wire used in orthopedic surgical robots. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment of this invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technology.

Claims

1. A split Kirschner wire for an orthopedic surgical robot, characterized by, The front Kirschner needle (100) for puncturing the bone and the rear Kirschner needle (200) for connecting with the end effector of the orthopedic surgery robot are detachably connected. After separation, the front Kirschner needle (100) remains in the bone, and the connecting end exposed outside the human tissue is smooth without burrs to penetrate into the pedicle screw.

2. The split K-wire for orthopedic surgical robot according to claim 1, wherein, A threaded joint (300) is arranged between the front Kirschner needle (100) and the rear Kirschner needle (200); the threaded joint (300) comprises a male threaded part (310) and a female threaded part (320), the male threaded part (310) comprises an outer threaded segment (311), and the female threaded part (320) comprises an inner threaded segment (321) matched with the thread of the outer threaded segment (311); the male threaded part (310) is formed on any one of the front Kirschner needle (100) and the rear Kirschner needle (200), and the female threaded part (320) is formed on the remaining one of the front Kirschner needle (100) and the rear Kirschner needle (200).

3. The split K-wire for orthopedic surgical robot according to claim 2, wherein, The male threaded part (310) is formed on the front end segment of the rear Kirschner needle (200), and the female threaded part (320) is formed on the rear end segment of the front Kirschner needle (100); the threads of the outer threaded segment (311) and the inner threaded segment (321) are single-threaded, double-threaded or triple-threaded.

4. The split K-wire for orthopedic surgical robot according to claim 2, wherein, The male threaded part (310) further comprises a guide segment (312) arranged at one end of the outer threaded segment (311) close to the screwing direction of the female threaded part (320); the guide segment (312) is made of elastic material, and when the threaded joint (300) is screwed, the guide segment (312) abuts against the female threaded part (320).

5. The split K-wire for orthopedic surgical robot according to claim 4, wherein, The male threaded part (310) further comprises a first transition segment (313) and a second transition segment (314), the first transition segment (313) is arranged between the guide segment (312) and the outer threaded segment (311), and the first transition segment (313) is a spring structure; the second transition segment (314) is arranged at one end of the outer threaded segment (311) away from the guide segment (312).

6. The split K-wire for orthopedic surgical robot according to claim 2, wherein, The front Kirschner needle (100) comprises a needle head (110), and the needle head (110) and the threaded joint (300) are respectively located at two ends of the front Kirschner needle (100) along the length direction thereof; The needle part (110) adopts a threaded triangular needle, comprising a cylindrical needle body (111), an outer thread is formed on the outer side wall of the needle body (111), the front end of the needle body (111) is provided with a first tangent plane (1111), a second tangent plane (1112) and a third tangent plane (1113), the first tangent plane (1111), the second tangent plane (1112) and the third tangent plane (1113) are distributed along the circumference of the needle body (111) and form a triangular pyramid, and the intersection line of any two adjacent tangent planes of the first tangent plane (1111), the second tangent plane (1112) and the third tangent plane (1113) constitutes an edge of the triangular pyramid, and the intersection point of the three edges of the triangular pyramid is located on the central axis of the needle body (111).

7. The split K-wire for orthopedic surgical robot according to claim 1, wherein, The rear kirsch needle body (200) comprises a holding section (211) for holding the end execution section of the robot, and the holding section (211) is in a cylindrical rod shape; the holding section (211) is arranged at the rear end of the rear kirsch needle body (200); Alternatively, the rear end of the rear kirsch needle body (200) is formed with a quick connector (212) for connecting with the end effector of the orthopedic surgery robot.

8. The split K-wire for orthopedic surgical robot according to claim 1, wherein, The connection part of the front kirsch needle body (100) and the rear kirsch needle body (200) is further provided with an interfacing mark (400) for identifying the connection part; the side wall surface of the front kirsch needle body (100) and the rear kirsch needle body (200) is formed with a length mark (500) for reading the depth of the kirsch needle.

9. The split K-wire for orthopedic surgical robot according to claim 1, wherein, A pluggable buckle connector (600) is arranged between the front kirsch needle body (100) and the rear kirsch needle body (200); the pluggable buckle connector (600) comprises a plug-in female head (610) and a plug-in male head (620) capable of being buckled with each other, the plug-in female head (610) is formed on any one of the front kirsch needle body (100) and the rear kirsch needle body (200), and the plug-in male head (620) is formed on the remaining one of the front kirsch needle body (100) and the rear kirsch needle body (200); The plug-in male head (620) comprises a connecting part (621), a cross beam arm (622) and a protruding structure (623), two cross beam arms (622) are oppositely arranged, one end of each cross beam arm (622) is connected to one end of the connecting part (621) close to the insertion direction of the plug-in female head (610), the other end of each cross beam arm (622) extends away from the insertion direction of the plug-in female head (610), and the outer side of the other end of each cross beam arm (622) is provided with a protruding structure (623); the plug-in female head (610) comprises a receiving groove (611) matched with the shape of the connecting part (621), and a step (612) is arranged on the inner side of the receiving groove for hooking with the protruding structure (623); the cross section of the connecting part (621) is rectangular, and the protruding structure (623) is a spherical protruding point.

10. A kit for a k-wire for orthopedic surgical robots, comprising: Comprise: The split Kirschner wire for orthopedic surgery robot according to claim 1 comprises a front Kirschner wire body (100) and a rear Kirschner wire body (200); And one or more adaptive needle rods (700) comprising a front end connecting part capable of being detachably connected with the rear end of the front Kirschner wire body (100) and a rear end connecting part capable of being detachably connected with the rear Kirschner wire body (200).

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