Nail placing device for minimally invasive spine nail

Abstract

The utility model provides a minimally invasive spine screw placing device which comprises a mechanical arm, a kirschner wire and a pedicle screw and further comprises a connecting device, a screw fixing device and a screw fixing device. The kirschner wire clamping module is connected with the mechanical arm through the connecting device and is used for clamping a kirschner wire; and the screw clamping module and the kirschner wire clamping module are coaxially arranged, the screw clamping module is arranged below the kirschner wire clamping module, and the screw clamping module is connected with the mechanical arm through the connecting device and used for clamping a pedicle screw. A mechanical arm of a robot system is used for controlling the screw placement device, one-step high-precision automatic implantation of the pedicle screw is achieved, the technical problems that in the prior art, manual screw implantation is needed, a kirschner wire slips, and the screw placement deviation probability is large are solved, and the screw placement accuracy and safety are improved to a great extent.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of the implantation technology of spinal minimally invasive nail, and particularly relates to a kind of implantation device of spinal minimally invasive nail. BACKGROUND

[0002] Spinal minimally invasive surgery has been widely used in clinic, and the difference from traditional open surgery is that the incision is small, so the shape of the corresponding instrument is different from traditional tools, and most of them are operated by being introduced into the body from the outside through a certain channel.Spinal minimally invasive screw is mostly hollow screw, in traditional surgery, according to the result of X-ray machine perspective, the cortex at pedicle is destroyed by knocking with opening cone, Kirschner wire is hit, nail channel is determined, and hollow nail holder is used to hold pedicle screw and implant it into position along Kirschner wire.

[0003] Most of spinal minimally invasive screw is closed surgery, pedicle screw and fixation rod are hit through skin, and nail holder is implanted through skin incision, so some companies design channel to facilitate screw implantation, avoid contact between screw and nail holder and skin soft tissue, and cause damage, but usually auxiliary X-ray machine is needed, and implantation precision seriously depends on doctor's experience, and the introduction of orthopedic robot system greatly improves the precision of implantation, and the operator can hit Kirschner wire or implant screw along the guide sleeve of robot, and there is a risk of large probability of Kirschner wire slipping and implanting deviation.

[0004] In prior art, traditional surgery needs to knock the skin, and there is a risk of slipping and large probability of implanting deviation, in improvement aspect, high-speed drill is used to grind cortex along guide sleeve to pedicle screw channel, then electric nail holder is used to hold screw and hit it under visual condition, manual operation is needed in the process, high-speed drill has visualization function, but there is no communication control with robot system, Kirschner wire and nail holder are designed in integrated way, when using, red knob on nail holder is rotated, Kirschner wire can be explored to a certain length, instrument is knocked to make Kirschner wire enter pedicle, then red button is continuously rotated to make Kirschner wire penetrate to a certain length to form guiding effect, then T-shaped handle is rotated to rotate screw along Kirschner wire, and the above process is repeated to complete screw implantation, due to manual operation, there is a risk of slipping when knocking force is not properly controlled.In prior art, robot is used to implant screw, nail holder module holds screw and inner core needle, inner core needle is hit into bone by rotating, and screw is screwed in, for the hitting mode of inner core needle, rotation or ultrasonic vibrator function is considered, Kirschner wire needs to be customized, general Kirschner wire cannot be used, and manual operation is needed to adjust Kirschner wire to advance or retreat.

[0005] Therefore, prior art needs to be further developed. UTILITY MODEL CONTENT

[0006] The utility model discloses a purpose at overcoming above -mentioned technical insufficiency provides a kind of nail placement device of spinal minimally invasive nail, to solve the technical problem of the risk of existing technology needs manual operation implant screw, there is kirschner wire slip, nail placement large probability of deviation.

[0007] To achieve the above technical purpose, the utility model provides a kind of nail placement device of spinal minimally invasive nail, including mechanical arm, kirschner wire and pedicle screw, further including:

[0008] Connecting device is set to the end of the mechanical arm;

[0009] Kirschner wire clamping module is connected with the mechanical arm by the connecting device, for clamping kirschner wire;

[0010] Screw clamping module is coaxially placed with the kirschner wire clamping module, the screw clamping module is arranged below the kirschner wire clamping module, the screw clamping module is connected with the mechanical arm by the connecting device, for clamping pedicle screw.

[0011] Specifically, the kirschner wire clamping module is detachably connected with the kirschner wire, and the kirschner wire clamping module includes a kirschner wire holder for fixing the kirschner wire.

[0012] Specifically, the kirschner wire clamping module further includes a sliding table, the sliding table is fixedly connected with the connecting device, and the kirschner wire holder is slidingly connected with the sliding table.

[0013] Specifically, the kirschner wire clamping module further includes a first driving device, and the first driving device is arranged on the kirschner wire holder and used to drive the kirschner wire holder to slide along the vertical direction of the sliding table with the kirschner wire.

[0014] Specifically, the screw clamping module is detachably connected with the pedicle screw, and the screw clamping module includes a screw holder for fixing the pedicle screw.

[0015] Specifically, the screw clamping module further includes a second driving device, and the second driving device is arranged in the screw clamping module and used to drive the screw holder to slide along the vertical direction of the kirschner wire with the pedicle screw.

[0016] Specifically, when the kirschner wire clamping module clamps the kirschner wire, the head of the kirschner wire is aligned with the head of the pedicle screw clamped by the screw clamping module.

[0017] Specifically, the device further includes a protection device, and the protection device is arranged outside the screw clamping module and slidingly connected with the screw clamping module.

[0018] Specifically, the protection device is made of flexible material.

[0019] In particular, the shape of the head of the pedicle screw comprises a nail head with a ground surface.

[0020] Advantageous effects:

[0021] The utility model provides a kind of implanting device of spinal minimally invasive nail, including the connecting device being arranged in the end of the mechanical arm;Kirschner wire clamping module is connected with mechanical arm by connecting device, for clamping Kirschner wire;Screw clamping module is coaxially placed with Kirschner wire clamping module, is connected with mechanical arm by connecting device, for clamping pedicle screw, control above-mentioned implanting device using the mechanical arm of robot system, realize one-step high-precision automatic implantation pedicle screw, solve the technical problem of existing technology, need manual operation implantation screw, exist Kirschner wire slip, implanting deviation large probability, greatly improve the accuracy and security of implanting. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the structure schematic diagram of the implanting device of spinal minimally invasive nail provided in the embodiment of the utility model;

[0023] Figure 2 It is the structure schematic diagram of the implanting device when screw clamping module and connecting device are fixedly connected provided in the embodiment of the utility model;

[0024] Figure 3 It is the position relation diagram of protection device and pedicle screw provided in the embodiment of the utility model;

[0025] Figure 4 It is the schematic diagram of the solid nail head of pedicle screw provided in the embodiment of the utility model;

[0026] Figure 5 It is the schematic diagram of the hollow nail head of pedicle screw provided in the embodiment of the utility model;

[0027] Figure 6 It is the process schematic diagram when implanting device is cut skin provided in the embodiment of the utility model;

[0028] Figure 7 It is the process schematic diagram when implanting device moves into skin provided in the embodiment of the utility model;

[0029] Figure 8 It is the process schematic diagram of pre-drilling anti-skid hole provided in the embodiment of the utility model;

[0030] Figure 9 It is the schematic diagram of Kirschner wire drilling hole provided in the embodiment of the utility model;

[0031] Figure 10 is a schematic diagram of the pedicle screw implantation provided in the embodiment of the present application.

[0032] Among them, the above-mentioned drawings include the following reference signs:

[0033] 1, mechanical arm; 2, Kirschner wire; 3, pedicle screw; 4, connecting device; 5, Kirschner wire clamping module; 6, screw clamping module; 7, sliding table; 8, first driving device; 9, protection device; 10, skin. DETAILED DESCRIPTION

[0034] In order to make the person in the art better understand the technical scheme of the present application, the technical scheme of the present application will be described clearly and completely below in combination with the drawings of the present application. Based on the embodiments in the present application, other similar embodiments obtained by the person skilled in the art without making creative efforts shall belong to the protection scope of the present application. In addition, the direction words mentioned in the following embodiments, such as "up", "down", "left", "right" and the like are only the directions of the drawings, therefore, the direction words used are used for illustration but not for limiting the present application.

[0035] The present application will be further described below in combination with the drawings and preferred embodiments.

[0036] Please refer to Figure 1 The present embodiment provides a kind of nail placing device of spinal minimally invasive nail, including mechanical arm 1, Kirschner wire 2 and pedicle screw 3, still include:

[0037] Connecting device 4 is arranged at the end of the mechanical arm 1;

[0038] Kirschner wire clamping module 5 is connected with the mechanical arm 1 by the connecting device 4, for clamping Kirschner wire 2;

[0039] Screw clamping module 6 is coaxially placed with the Kirschner wire clamping module 5, the screw clamping module 6 is arranged below the Kirschner wire clamping module 5, the screw clamping module 6 is connected with the mechanical arm 1 by the connecting device 4, for clamping pedicle screw 3.

[0040] Please refer to Figure 1In the nail placing device, the mechanical arm 1 comprises a terminal interface structure, the connecting device 4 is fixedly arranged at the terminal of the mechanical arm 1 through the terminal interface structure, and is used for providing support and positioning. The Kirschner wire clamping module 5 is fixedly connected with the connecting device 4, so as to clamp and control the insertion and withdrawal of the Kirschner wire 2 into the skin 10. The screw clamping module 6 is coaxially arranged below the Kirschner wire clamping module 5, so as to clamp and guide the pedicle screw 3 to be screwed into the skin 10 along the Kirschner wire 2, and the pedicle screw 3 can be automatically implanted under the robot system.

[0041] In some specific embodiments, the screw clamping module 6 is fixedly connected with the connecting device 4, as shown in Figure 2 As shown, the Kirschner wire clamping module 5 directly contacts the top of the screw clamping module 6, so that the stability of the structure is high.

[0042] In some specific embodiments, the screw clamping module 6 is slidingly connected with the connecting device 4, the Kirschner wire clamping module 5 and the screw clamping module 6 are respectively connected with the connecting device 4, and the Kirschner wire clamping module 5 and the screw clamping module 6 are spaced apart by a certain distance, which facilitates the adjustment of the position of the pedicle screw 3 and is high in flexibility.

[0043] Referring to Figure 1 In the nail placing device, the Kirschner wire clamping module 5 is detachably connected with the Kirschner wire 2. The Kirschner wire clamping module 5 comprises a Kirschner wire holder for fixing the Kirschner wire 2, ensuring the stability of the position of the Kirschner wire 2, being capable of adapting to different requirements of spinal minimally invasive surgery, facilitating the replacement of Kirschner wires 2 of different specifications, and improving the safety and flexibility of surgery.

[0044] Referring to Figure 2 The Kirschner wire clamping module 5 further comprises a sliding table 7, the sliding table 7 is fixedly connected with the connecting device 4, and the Kirschner wire 2 holder is slidingly connected with the sliding table 7, so that the Kirschner wire 2 holder drives the Kirschner wire 2 to move up and down on the sliding table 7, thereby realizing the operation of inserting the Kirschner wire 2 into the skin 10 and withdrawing the Kirschner wire 2 from the skin 10.

[0045] Specifically, the Kirschner wire clamping module 5 further comprises a first driving device 8, the first driving device 8 is arranged on the Kirschner wire 2 holder, and is used for driving the Kirschner wire 2 holder to slide along the vertical direction of the sliding table 7.

[0046] Referring to Figure 2In some specific embodiments, the Kirschner wire 2 can be connected with the first driving module through the interface structure, so as to accurately control the movement of the Kirschner wire 2 in the vertical direction along the connecting device 4, avoid the complex adjustment for moving the Kirschner wire 2 holder in the vertical direction during manual operation, and save the operation time.

[0047] Referring to Figure 1 The screw clamping module 6 is detachably connected with the pedicle screw 3, and the screw clamping module 6 comprises a screw holder for fixing the pedicle screw 3. The position of the pedicle screw 3 can be ensured to be stable, different requirements of spinal minimally invasive surgery can be adapted to, different specifications of the pedicle screw 3 can be replaced, and the safety and flexibility of the operation are improved.

[0048] Specifically, the screw clamping module 6 further comprises a second driving device arranged in the interior of the screw clamping module 6 and used for driving the screw holder to drive the pedicle screw 3 to slide in the vertical direction along the Kirschner wire 2. The positioning accuracy of the pedicle screw 3 in the spine is improved, the automatic implantation of the pedicle screw 3 is realized, the operation efficiency is greatly improved, and the risk of slipping and misplacement is avoided.

[0049] Referring to Figure 1 When the Kirschner wire clamping module 5 clamps the Kirschner wire 2, the head of the Kirschner wire 2 is aligned with the head of the pedicle screw 3 clamped by the screw clamping module 6, so as to facilitate guiding the pedicle screw 3 to be screwed into the skin 10 in the direction of the Kirschner wire 2.

[0050] Referring to Figure 3 The device further comprises a protection device 9 arranged outside the screw clamping module 6 and in sliding connection with the screw clamping module 6, and covering around the Kirschner wire 2 and the pedicle screw, so that the pedicle placement device is isolated from the skin 10 when being inserted into the skin 10, damage to other soft tissues is prevented, the pedicle placement process is smoother, and the safety of the operation is greatly improved.

[0051] Referring to Figure 3 In some specific embodiments, the protection device 9 is made of flexible material, so that when the pedicle placement device places the pedicle screw 3 into the pedicle cortex, under the action of the screw clamping module 6, the pedicle screw 3 enters the pedicle, the protection device 9 does not enter the cortex due to the gap on the surface, and the protection device 9 is automatically cracked, the screw holder is withdrawn after the screw implantation, and the protection device 9 is also withdrawn, so as to further protect other soft tissues and improve the safety of the operation.

[0052] Specifically, the shape of the head of the pedicle screw 3 includes a nail head with a grinding surface, which is designed to grind the cortex and produce anti-skid pits when the pedicle screw 3 rotates at high speed, thereby further avoiding the risk of slipping and further improving the accuracy of the operation.

[0053] Referring to Figure 4 In some specific embodiments, the shape of the head of the pedicle screw 3 includes a solid nail head with a grinding surface, which can achieve high-speed grinding of anti-skid holes on the surface of the pedicle cortex directly using the screw clamping module 6 and driving the pedicle screw 3.

[0054] Referring to Figure 5 In some specific embodiments, the shape of the head of the pedicle screw 3 includes a hollow nail head with a grinding surface, and the head of the Kirschner wire 2 is aligned with the head of the assembled hollow pedicle screw 3. At this time, the axis of the Kirschner wire 2 is aligned with the axis of the pedicle screw 3, and the Kirschner wire 2 is inserted into the central hole of the hollow pedicle screw 3, achieving the purpose of implanting the Kirschner wire 2 first and guiding the pedicle screw 3 to be implanted into the pedicle.

[0055] Specifically, the diameter of the Kirschner wire 2 is in the range of 1.2mm to 2.8mm, and the corresponding specification of the Kirschner wire 2 can be selected according to actual needs, so that it can be inserted into the central hole of the hollow pedicle screw 3.

[0056] Specifically, the first driving module and the second driving module can each include a power tool or an ultrasonic power tool, which generally has a higher degree of automation, reducing the time and complexity of manual operation, which not only improves the efficiency of the operation, but also reduces the fatigue of the doctor, helping to maintain the operation accuracy during a long operation.

[0057] Referring to Figures 6 to 10 Taking the implantation of the hollow pedicle screw 3 as an example, the working process of the pedicle placement device of the spinal minimally invasive nail in this embodiment is as follows:

[0058] Referring to Figure 6 The Kirschner wire clamping module 5 and the screw clamping module 6 are arranged side by side along the connecting device 4, and the mechanical arm 1 guides the head of the Kirschner wire 2 to be aligned with the head of the assembled hollow pedicle screw 3.

[0059] Referring to Figure 7 The incision operation is performed at the projection guided by the mechanical arm 1 by manually or automatically operating the pedicle placement device, and the protection device 9 cooperates with the screw clamping module 6, so that the front end of the protection device 9 separates the heads of the pedicle screw 3 and the Kirschner wire 2 from the skin 10, preventing damage to the soft tissue.

[0060] Referring to Figure 8, screw clamping module 6 drives pedicle screw 3 to grind at high speed, and is slid downward along connecting device 4 by a certain distance (for example, the radius of the grinding head), so that a shallow pit is drilled in the pedicle cortex, and the subsequent screw implantation process is prevented from slipping and being skewed, so that the accuracy is affected and the nerve is damaged.

[0061] Referring to Figure 9 , the Kirschner wire clamping module 5 is moved downward along the connecting device 4 by a certain distance (for example, 10 mm, which can play a screw guiding role and will not cause direction deviation due to the thin and long Kirschner wire 2), and the driving device drives the Kirschner wire 2 to be slid downward and drilled into the pedicle by the same distance;

[0062] Referring to Figure 10 , the screw clamping module 6 is rotated and slid relative to the connecting device 4, the pedicle screw 3 is implanted into the pedicle cortex by a certain distance (for example, 10 mm, which is the same as the initial insertion distance of the Kirschner wire 2), and the drilling of the Kirschner wire 2 and the implantation of the pedicle screw 3 are repeatedly performed, so that the final implantation of the pedicle screw 3 is completed, or the Kirschner wire 2 is drilled into the pedicle by a certain distance (for example, a distance between 20-40 mm) at one time, and the screw is implanted to the planned depth at one time.

[0063] It should be noted that the utility model provides a pedicle placement device of a spine minimally invasive nail, which comprises a connecting device arranged at the end of a mechanical arm; a Kirschner wire clamping module is connected with the mechanical arm through the connecting device and is used for clamping the Kirschner wire; a screw clamping module is coaxially arranged with the Kirschner wire clamping module and is connected with the mechanical arm through the connecting device and is used for clamping the pedicle screw; the above-mentioned pedicle placement device is controlled by the mechanical arm of a robot system, one-step high-precision automatic implantation of the pedicle screw is realized, the technical problems that the existing technology needs manual operation to implant the screw and the Kirschner wire slips and the probability of pedicle placement deviation is large are solved, and the accuracy and safety of pedicle placement are greatly improved.

[0064] The technical features described above can be combined arbitrarily. Although all possible combinations of the technical features are not described, any combination of the technical features should be considered to be covered by the specification, as long as the combination does not contradict.

[0065] The specific implementation mode of the utility model described above does not constitute a limitation on the protection scope of the utility model. Any various other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the utility model claims.

Claims

1. A device for placing a minimally invasive spinal nail, comprising a mechanical arm (1), a K-wire (2) and a pedicle screw (3), characterized in that, Also comprising: a connecting device (4) arranged at the end of the mechanical arm (1); a Kirschner wire clamping module (5) connected to the mechanical arm (1) through the connecting device (4) for clamping a Kirschner wire (2); a screw clamping module (6) coaxially arranged with the Kirschner wire clamping module (5), the screw clamping module (6) being arranged below the Kirschner wire clamping module (5), the screw clamping module (6) being connected to the mechanical arm (1) through the connecting device (4) for clamping a pedicle screw (3).

2. The device of claim 1, wherein, The Kirschner wire clamping module (5) is detachably connected to the Kirschner wire (2), and the Kirschner wire clamping module (5) comprises a Kirschner wire holder for fixing the Kirschner wire (2).

3. The device of claim 2, wherein, The Kirschner wire clamping module (5) further comprises a sliding table (7) fixedly connected to the connecting device (4), and the Kirschner wire holder is slidingly connected to the sliding table (7).

4. The device of claim 3, wherein, The Kirschner wire clamping module (5) further comprises a first driving device (8) arranged on the Kirschner wire holder for driving the Kirschner wire holder to slide the Kirschner wire (2) along the vertical direction of the sliding table (7).

5. The device of claim 1 wherein, The screw clamping module (6) is detachably connected to the pedicle screw (3), and the screw clamping module (6) comprises a screw holder for fixing the pedicle screw (3).

6. The minimally invasive spinal implant placement device of claim 5, wherein, The screw clamping module (6) further comprises a second driving device arranged inside the screw clamping module (6) for driving the screw holder to slide the pedicle screw (3) along the vertical direction of the Kirschner wire (2).

7. The device of claim 1 wherein, When the Kirschner wire clamping module (5) clamps the Kirschner wire (2), the head of the Kirschner wire (2) is aligned with the head of the pedicle screw (3) clamped by the screw clamping module (6).

8. The device of claim 1 wherein, The device further comprises a protection device (9) arranged outside the screw clamping module (6) and slidingly connected to the screw clamping module (6).

9. The device of claim 8, wherein, The protection device (9) is made of flexible material.

10. The apparatus of claim 1 wherein, The shape of the head of the pedicle screw (3) comprises a nail head with a ground surface.

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