Nail feeding system for surgical robot

Abstract

The utility model relates to a nailing system for a surgical robot. The nailing system comprises a hollow nailing device and a hollow nail. And the hollow nail is detachably connected with the hollow nailing device. The hollow nailing device comprises an inner core and an outer sleeve arranged outside the inner core in a sleeving mode. A first through hole penetrating in the axial direction is formed in the inner core. The distal surface of the outer cannula is provided with external threads. The hollow nail comprises a nail seat and a hollow nail head fixedly connected with the nail seat. A cavity for assembling the far side part of the inner core is formed in the screw seat, and internal threads matched with the external threads are arranged on the screw seat. A second through hole penetrating in the axial direction is formed in the hollow nail head.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a system for a surgical robot. BACKGROUND

[0002] Pedicle screw internal fixation is one of the core technologies commonly used in spinal surgery, and it is of great significance to the recovery and reconstruction of spinal stability in the treatment of spinal diseases. In order to improve the accuracy of pedicle screw placement, navigation, robot-assisted screw placement and other technologies have been developed and applied in clinical practice. However, in the surgical process of existing orthopedic surgical robots, the screw head slipping on the bone surface is a common and high-risk situation.

[0003] Therefore, many doctors hope to use a guide wire to guide the placement of the screw to improve the safety of robot screw placement and enhance the confidence of doctors in robot screw placement. CONTENT OF THE UTILITY MODEL

[0004] The embodiments of the present disclosure provide a system for a surgical robot. The system for a surgical robot includes a hollow screw driver and a hollow screw. The hollow screw is detachably connected with the hollow screw driver. The hollow screw driver includes an inner core and an outer sleeve tube sleeved outside the inner core. The inner core is provided with a first through hole penetrating in the axial direction. The distal surface of the outer sleeve tube is provided with external threads. The hollow screw includes a screw seat and a hollow screw head fixedly connected with the screw seat. The screw seat is provided with a cavity for assembling the distal part of the inner core, and the screw seat is provided with internal threads matched with the external threads. The hollow screw head is provided with a second through hole penetrating in the axial direction.

[0005] The system for a surgical robot can realize robot screw placement under the guidance of a guide wire, avoiding the situation of solid screw slipping on the bone surface, and having higher accuracy. The system for a surgical robot realizes the automatic screw placement function of the surgical robot. Since the mechanical arm of the surgical robot is controllable and has high stability, the influence of natural tremor of the operating hand of the doctor on the surgical precision is reduced, screw channel damage is significantly reduced, screw placement stability is good, and in the screw rod system, the prestress can be effectively reduced to ensure the accuracy of screw placement.

[0006] In one embodiment, the system for a surgical robot further includes a guide wire. The radial dimension of the guide wire is smaller than the radial dimension of the first through hole and the radial dimension of the second through hole, respectively, so that the guide wire extends from the distal end of the hollow screw via the first through hole and the second through hole.

[0007] Preferably, the guide wire includes a guide wire inner core.

[0008] More preferably, the distal end of the guide wire inner core has a bifurcated structure.

[0009] Preferably, the system for a surgical robot further includes a quick connection device. The proximal end of the quick connection device is connected with the inner core of the hollow screw driver, and the distal end of the quick connection device is connected with the mechanical arm.

[0010] More preferably, the guide wire is provided with a scale, and the quick connecting device is provided with a window for observing the scale.

[0011] In one embodiment, the distal end of the inner core is provided with a head, the inner core is fixedly provided with a stopper, and the staple seat is provided with a positioning groove matched with the head of the inner core and a clamping groove matched with the stopper.

[0012] Preferably, the head of the inner core and the positioning groove are both hexagonal in cross-sectional shape.

[0013] In one embodiment, the proximal end of the inner core is fixedly provided with a rotating member.

[0014] Preferably, the rotating member has a screw cap structure.

[0015] Preferably, the rotating member is provided with a hole in the side wall.

[0016] In one embodiment, the limiting member is movably sleeved outside the inner core, and the limiting member is fixed on the inner core via a limiting mechanism.

[0017] Preferably, the limiting member is a limiting ring, the limiting ring is provided with a button and is configured to be slidable on the inner core when the button is pressed, and to be fixed on the inner core when the button is released.

[0018] The examples are described in detail below with reference to the accompanying drawings, and more details and advantages of the examples described in the detailed description will become apparent. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the embodiments of the present disclosure and are not limited to the present disclosure.

[0020] Figure 1 is a schematic diagram of a stapling system without a guide wire according to an embodiment of the present disclosure;

[0021] Figure 2a is a schematic diagram of a stapling system with a guide wire according to an embodiment of the present disclosure;

[0022] Figure 2b is a schematic diagram of a hollow stapler according to an embodiment of the present disclosure; Figure 2a is a partial cross-sectional schematic diagram taken along line A-A of

[0023] Figure 3 is a schematic diagram of a stapling system without a quick connecting device according to an embodiment of the present disclosure;

[0024] Figure 4 is a schematic diagram of a hollow stapler according to an embodiment of the present disclosure;

[0025] Figure 5a is a schematic view of a cannulated nail according to an embodiment of the present disclosure;

[0026] Figure 5b is a top view of the cannulated nail of Figure 5a ; and

[0027] Figure 6 is a schematic view of a guide wire according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present disclosure.

[0029] Unless otherwise defined, technical terms or scientific terms used herein should be understood as having the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms "first", "second", and similar terms used in the description and the claims of the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the "include" or "contain" cover the elements or objects listed after the "include" or "contain" and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", "top", "bottom", and the like are used only to indicate relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships may also be changed accordingly.

[0030] The terms "proximal", "proximally", "distal", and "distally" are used herein with respect to a clinician (surgical robot) manipulating a surgical instrument. The terms "proximal" and "proximally" refer to the portion closest to the clinician (surgical robot), and the terms "distal" and "distally" refer to the portion farthest from the clinician (surgical robot).

[0031] The applicant finds that the nail head slipping on the bone surface is a common and high-risk situation in the existing orthopedic surgery robot surgery process. Many doctors want to apply the wire-guided nail placement technology to the orthopedic surgery robot surgery. They think that the robot places nails under the guidance of the guide wire, which makes the nail placement surgery safer on the one hand, and on the other hand, the doctor will have more confidence in the robot orthopedic surgery process due to the limitation of the guide wire guidance. The applicant also finds that the guide wire used in the guide wire guided nail placement technology in the clinic is too long and is not suitable for nail placement under the robot surgery state. Therefore, it is urgent to design a safe and reliable nail placement system for a surgical robot to perform a short guide wire guided nail placement operation.

[0032] To solve the above technical problems, the present disclosure provides a nail placement system for a surgical robot, the nail placement system comprising a hollow nail driver and a hollow nail. The hollow nail is detachably connected with the hollow nail driver. The hollow nail driver comprises an inner core and an outer sleeve tube sleeved outside the inner core. The inner core is provided with a first through hole penetrating in the axial direction. The distal surface of the outer sleeve tube is provided with external threads. The hollow nail comprises a nail seat and a hollow nail head fixedly connected with the nail seat. The nail seat is provided with a cavity fitting the distal part of the inner core, and the nail seat is provided with internal threads matching the external threads. The hollow nail head is provided with a second through hole penetrating in the axial direction.

[0033] The present disclosure will be described below through specific embodiments. In order to keep the following description of the embodiments of the present disclosure clear and concise, the detailed description of known functions and known components can be omitted. When any component of the embodiments of the present disclosure appears in more than one figure, the component can be denoted by the same reference numeral in each figure.

[0034] Figure 1 is a schematic diagram of a nail placement system without a guide wire according to an embodiment of the present disclosure, Figure 2a is a schematic diagram of a nail placement system containing a guide wire according to an embodiment of the present disclosure, Figure 2b is a partial cross-sectional view along the line A-A of Figure 2a Figure 3 is a schematic diagram of a nail placement system without a quick connection device according to an embodiment of the present disclosure. Figure 4 is a schematic diagram of a hollow nail driver according to an embodiment of the present disclosure. As shown in the figure, the nail placement system comprises a hollow nail driver 100 and a hollow nail 200, the hollow nail 200 is detachably connected with the hollow nail driver 100, and the hollow nail driver 100 provides a torsional force for the hollow nail 200 to help complete the nail placement. Referring to Figure 4 ​The hollow up-dowel device 100 comprises an inner core 110 and an outer sleeve 120, the outer sleeve 120 is sleeved on the inner core 110, and an outer thread 121 is arranged on the distal surface of the outer sleeve 120. Specifically, the outer sleeve 120 is sleeved on the outer periphery of the inner core 110 and can move along the axial direction of the inner core 110. In addition, a first through hole 113 is arranged on the inner core 110 in the axial direction.

[0035] The hollow up-dowel device 100 according to the embodiment of the present disclosure can be adapted to an electromagnetic navigation system of a surgical robot, in which an electromagnetic navigation device is mainly responsible for real-time positioning and navigation of a target area and an end effector during surgery as a core component. In one embodiment, the material of the hollow up-dowel device 100 can be cobalt-chromium-molybdenum. Therefore, the hollow up-dowel device 100 has no magnetism, so as not to interfere with the electromagnetic navigation system, and to ensure the normal operation of the electromagnetic navigation system.

[0036] Figure 5a is a schematic view of a hollow dowel according to the embodiment of the present disclosure, Figure 5b is Figure 5a a top view of the hollow dowel. Referring to Figure 5a and Figure 5b , the hollow dowel 200 comprises a dowel seat 210 and a hollow dowel head 220, the dowel seat 210 is fixedly connected with the hollow dowel head 220, and in actual manufacture, the dowel seat 210 and the hollow dowel head 220 can be integrally formed. The dowel seat 210 is provided with a cavity which can receive the distal portion of the inner core 110 of the hollow up-dowel device 100, and an inner thread 211 matching the outer thread 121 of the outer sleeve 120 can be arranged on the dowel seat 210. Referring to Figure 1 and Figure 5b , the hollow dowel head 220 is provided with a second through hole 230 in the axial direction. In addition, the distal end of the hollow dowel head 220 is provided with a threaded structure 221 which can be firmly doweled into the pedicle, as shown in Figure 5a .

[0037] In one embodiment, the distal end of the inner core 110 is provided with a head 112 for driving the hollow dowel 200, as shown in Figure 4 , and the inner core 110 can be matched with the hollow dowel 200 via the head 112, so that the rotation of the inner core 110 drives the rotation of the hollow dowel 200 to help complete the up-dowel operation. A stopper 111 is fixedly arranged on the inner core 110, and the stopper 111 can be clamped with the hollow dowel 200, so that the stopper 111 can provide a radial force to the hollow dowel 200 to ensure that the inner core 110 rotates radially together with the hollow dowel. The cavity on the dowel seat 210 can receive the distal portion of the inner core 110 of the hollow up-dowel device 100, such as the head 112 of the inner core 110, the stopper 111, etc. Specifically, a positioning groove 212 matching the head 112 of the inner core 110 and a clamping groove 213 matching the stopper 111 can be arranged on the dowel seat 210.

[0038] In one embodiment, the head 112 has a hexagonal structure, i.e., the cross-sectional shape of the head 112 is hexagonal. The head 112 can also have other structures suitable for driving the cannulated nail 200 according to actual needs. Since the structure of the positioning groove 212 matches the structure of the head 112 of the inner core 110, when the head 112 has a hexagonal structure, i.e., the cross-sectional shape of the head 112 is hexagonal, the positioning groove 212 also has a hexagonal structure, i.e., the cross-sectional shape of the positioning groove 212 is hexagonal, which on one hand guides and positions the head 112 of the inner core 110 during the assembly of the cannulated nail 200 and the cannulated nail driver 100, and on the other hand, during the actual nailing process, the head 112 of the inner core 110 having a hexagonal structure can provide a radial force to the cannulated nail 200 via the positioning groove 212 to ensure that the inner core 110 rotates radially together with the cannulated nail 200. Figure 4 In actual use, the assembled inner core 110 can be flushed via the through hole 122.

[0039] In actual assembly, the inner core 110 of the cannulated nail driver 100 is assembled into the cavity of the cannulated nail 200, specifically, the head 112 of the inner core 110 is aligned with the positioning groove 212 of the nail seat 210 of the cannulated nail 200, while rotating the inner core 110 so that the stopper 111 on the inner core 110 is aligned with the clamping groove 213 on the nail seat 210, and then the head 112 of the inner core 110 is inserted into the positioning groove 212, and the stopper 111 is also clamped into the clamping groove 213, at this time the cavity has received the distal portion of the inner core 110. Then rotate the outer sleeve 120, and screw the outer thread 121 of the outer sleeve 120 into the inner thread 211 of the nail seat 210, so that the cannulated nail driver 100 and the cannulated nail 200 are connected together.

[0040] Referring again to Figures 1 to 5b In one embodiment, the nailing system includes a guide wire 300, the radial dimension of the guide wire 300 is smaller than the radial dimension of the first through hole 113 (as shown in Figure 4 and the radial dimension of the second through hole 230 (as shown in Figure 1 and Figure 5b so that the guide wire 300 extends out of the distal end of the cannulated nail 200 via the first through hole 113 and the second through hole 230, as shown in Figure 2a

[0041] Figure 6 is a schematic view of a guide wire according to an embodiment of the present disclosure. In one embodiment, as shown in Figure 6 ​As shown, the guide wire 300 includes a guide wire inner core 310, and the guide wire 300 can provide a folding effect, and the guide wire inner core 310 can be deformed in bending.

[0042] At present, in the guide wire guided nail placement technology in the clinic, when the physician rotates the cannulated nail into the bone tissue, the guide wire located inside the cannulated nail will move towards the bone tissue, causing the guide wire to penetrate the bone tissue and damage the bone tissue. In order to avoid this situation, the physician usually needs to pull the guide wire away from the bone tissue after rotating the cannulated nail for a period of time to ensure that the guide wire does not move with the cannulated nail, thereby avoiding further damage to the bone tissue caused by the guide wire puncturing the bone tissue, but such pulling operation also increases the steps of the physician's operation.

[0043] In the nail placement system for surgical robots according to the present disclosure, in order to safely and reliably guide the operation of placing the cannulated nail, in one embodiment, the distal end of the guide wire inner core 310 has a bifurcated structure, as shown. Figure 6 The bifurcated structure can prevent the guide wire 300 from further moving towards the bone tissue and penetrating the bone tissue. Specifically, during the process of robot nail placement guided by the guide wire, the cannulated nail drives the guide wire to move towards the bone tissue, and the bifurcated structure at the proximal end of the guide wire inner core will bend when it contacts the bone tissue, thereby preventing the guide wire from further moving towards the bone tissue and penetrating the bone tissue, and avoiding further damage to the bone tissue structure.

[0044] In addition, the guide wire used in the guide wire guided nail placement technology in the clinic is too long and is not suitable for robot surgery. Therefore, in order to ensure that the nail placement system of the present embodiment is suitable, in one embodiment, the length of the guide wire 300 is set to 200-300mm.

[0045] Referring to Figure 1 , Figure 2a and Figure 2b , in one embodiment, the nail placement system includes a quick connection device 400, the distal end of the quick connection device 400 is connected to the proximal end of the inner core 110, and the proximal end of the quick connection device 400 is connected to a mechanical arm (not shown). As can be seen from Figure 2a , Figure 2b and Figure 3 , the guide wire 300 passes through the cannulated nail holder 100 and the cannulated nail 200, and finally penetrates into the quick guide device 400. In actual work, the mechanical arm applies a torsional force to the cannulated nail holder 100 via the quick connection device 400, and the cannulated nail holder 100 transmits the torsional force to the cannulated nail 200 via the head 112 of the inner core 110 to help complete the nail placement operation.

[0046] The quick connection device 400 includes a connection joint 410, a coupling member 420, a driven shaft 430, fasteners 440, and a screw assembly 450. The proximal end of the connection joint 410 is connected to the mechanical arm of the surgical robot, and the distal end of the connection joint 410 has a first axial through hole 413. The distal end of the connection joint 410 is connected to the proximal end of the coupling member 420 by the fasteners 440, and the coupling member 420 has a second axial through hole 421. In one embodiment, the distal end of the connection joint 410 is provided with a cylindrical protrusion having the first axial through hole 413, which can enter the second axial through hole 421 when the connection joint 410 is connected to the coupling member 420, thereby limiting the movement of the connection joint 410 in the radial direction. Preferably, the outer diameter of the cylindrical protrusion is the same as the inner diameter of the second axial through hole 421. In one embodiment, the proximal end of the connection joint 410 is provided with a boss 412 (as shown in Figure 2b ), and the quick connection device 400 matches the recess (not shown) of the mechanical arm via the boss 412 to make the quick connection device 400 coaxially connected to the mechanical arm. In one embodiment, the proximal end of the connection joint 410 is provided with a positioning hole 411 (as shown in Figure 2b ), which can match the positioning pin (not shown) on the mechanical arm, thereby making the connection of the connection joint 410 and the mechanical arm more accurate and saving assembly time. The fasteners 440 can be connecting assemblies with fastening effect. In one embodiment, the fasteners 440 can be screws, as shown in Figure 1 , and other fasteners can also be used as long as the connection is firm. In another embodiment, the fasteners 440 can be bolts. In addition, the number of fasteners 440 is set according to actual needs, Figure 1 two fasteners 440 are provided. The screw assembly 450 includes a screw 452 and a knob 451 connected to the screw 452. In one embodiment, the knob 451 is detachably mounted on the end of the screw 452, for example, by radial screws. In another embodiment, the knob 451 can be fixedly connected to the screw 452.

[0047] With continued reference to Figure 1 and Figure 2b , the connection joint 410 has a receiving cavity 414 configured to receive the knob 451, and the receiving cavity 414 is in communication with the first axial through hole 413. The knob 451 is provided at the proximal end of the screw 452, the screw 452 passes through the first axial through hole 413, and the distal end of the screw 452 is located within the second axial through hole 421. The driven shaft 430 is threadedly connected to the screw 452, and in one embodiment, a circular recess with internal threads is provided on the proximal end of the driven shaft 430, and an external thread is provided on the distal end of the screw, as shown in Figure 2bThe inner thread of the proximal end of the driven shaft 430 is locked with the outer thread of the distal end of the screw rod 452, so that the screw rod assembly 450 is configured to axially fix the driven shaft 430.

[0048] Reference Figure 2b The proximal end of the driven shaft 430 is provided with a receiving groove 435, and the outer surface of the driven shaft 430 is arranged with radial through holes 435 and steel balls 434 arranged in the radial through holes 435. A locking knob 431 is sleeved on the driven shaft 430, and the locking knob 431 is threadedly connected with the driven shaft 430, specifically, the inner thread of the locking knob 431 is locked with the outer thread of the driven shaft. The distal end of the receiving groove 435 is provided with a driving groove 433. In an embodiment, the driving groove can be a hexagonal driving groove, a square groove, a keyway or other forms. The driving groove 433 is used to fit the driving block 115 on the proximal end of the inner core 110 (as Figure 4 shown), wherein when the driving block 115 of the inner core 110 is inserted into the receiving groove 435, the steel balls 434 are clamped in the grooves 114 arranged on the proximal end of the inner core 110 (as Figure 4 shown) by rotating the locking knob 431, so as to fix the movement of the inner core 110 in the axial direction. In an embodiment, the through holes 435 are uniformly distributed in the circumferential direction of the wall of the receiving groove 435, so that the force of the steel balls 434 on the grooves 114 is uniformly distributed in the process of clamping the steel balls 434 in the grooves 114 arranged on the inner core 110 by rotating the locking knob 431, so that the inner core 110 is better fixed by the steel balls 434. In an embodiment, the number of through holes 435 is set according to actual needs.

[0049] In an embodiment, the quick connecting device 400 further comprises a check ring 432. The check ring 432 is arranged on the driven shaft 430 to limit the movement of the locking knob 431 along the axial direction of the driven shaft 430 to the distal side in the unlocked state.

[0050] In an embodiment, the connecting joint 410, the shaft coupling 420, the driven shaft 430 and the screw rod assembly 450 are coaxially arranged. By coaxial arrangement, on the one hand, the physician can conveniently assemble and disassemble the quick connecting device; on the other hand, the coaxial arrangement can make the mechanical arm better operate the surgical tool via the quick connecting device.

[0051] In an embodiment, as Figure 2bAs shown, a flat key 436 extending axially is provided at the proximal end of the driven shaft 430, and the second axial through hole 421 includes a keyway 422 extending axially. Before the proximal end of the driven shaft 430 is threadedly connected to the distal end of the screw 452 via the second axial through hole 421, the flat key 436 can enter the keyway 422, thereby preventing the driven shaft 430 from rotating radially relative to the coupling 420. Furthermore, the keyway 422 and the flat key 436 provide guidance during the assembly of the connecting joint 410 and the coupling 420, facilitating the connection between the connecting joint 410 and the coupling 420.

[0052] refer to Figure 2b The driven shaft 430 has a third through hole 439 along its axial direction, and the screw 452 has a fourth through hole 454 along its axial direction. The radial dimensions of the guide wire 300 are smaller than the radial dimensions of the third through hole 439 and the fourth through hole 454, respectively. As described above, the radial dimensions of the guide wire 300 are smaller than the first through hole 113 (e.g., ...). Figure 4 The radial dimension of the second through hole 230 (as shown) Figure 1 and Figure 5b The radial dimension is shown. Therefore, the guide wire 300 passes through the hollow nail 200 and the hollow nailer 100 through the first through hole 113 and the second through hole 230 respectively, and then finally passes through the quick guide device 400 through the third through hole 439 and the fourth through hole 454.

[0053] Refer again Figure 2b In order to observe the condition of the guide wire 300 during the actual pin placement process, in one embodiment, the guide wire 300 is provided with a scale (not shown), and the quick-connect device 400 is provided with a window 438-1 for observing the scale, such as... Figure 6 As shown. Specifically, an observation frame 438 is also provided on the driven shaft 430. The observation frame 438 has a window 438-1, so that after the guidewire 300 passes through the third through hole 439 and the fourth through hole 454 into the quick guide device 400, the guidewire 300 can be observed through the window 438-1. The observation frame 438 can be located between the locking knob 431 and the coupling 420 in the axial direction of the driven shaft 430. As mentioned above, in the guidewire-guided screw placement technique in clinical practice, when the physician screws the hollow screw into the bone tissue, the hollow screw will drive the guidewire to move towards the bone tissue, thereby causing the guidewire to enter and damage the bone tissue. During the guidewire-guided screw placement, the status of the guidewire 300 during the operation can be monitored through the window 438-1. Specifically, by observing the movement of the scale of the guidewire 300 located at the window 438-1, it can be determined whether the guidewire 300 has moved towards the bone tissue as the screw placement process progresses. In one embodiment, the receiving cavity 414 also has a window serving as an observation scale, such as Figure 2b As shown.

[0054] After the robot is nailed, due to excessive torque or low coaxiality, etc., there are difficulties in withdrawing the nail. The present disclosure improves the coaxiality of the nailing device and the robot through structural design, develops a nail withdrawal assisting function, provides a hand screw / wrench nail withdrawal mode, and further improves the safety performance of the robot nail placement. Specifically, as shown in Figure 4 the proximal end of the inner core 110 is fixedly provided with a rotating member 123. When the nail needs to be withdrawn, the rotating member 123 can be manually rotated to perform the nail withdrawal operation. In a preferred embodiment, the rotating member 123 has a screw cap structure, and when the nail needs to be withdrawn, a wrench can be used to perform the nail withdrawal operation. In a preferred embodiment, a hole 124 is provided on the side wall of the screw cap. When the nail needs to be withdrawn, the doctor can insert a pick rod into the hole 124 and rotate the rotating member 123 via the pick rod to perform the nail withdrawal operation. Specifically, when the robot completes the actual nailing operation, the mechanical arm may be offset from the actual hole position, so that the nail and the nailing device are occasionally stuck, causing the doctor to directly reverse the operation of the outer sleeve to be not smooth. At this time, the doctor can insert a pick into the hole 124 of the outer sleeve 120, so that the outer sleeve 120 is reversed to complete the separation.

[0055] In an embodiment, the limiting member is movably sleeved outside the inner core 110, and the limiting member is fixed on the inner core 110 via a limiting mechanism. When the hollow nailing device 100 and the hollow nail 200 are detachably connected, the limiting member is fixed on the inner core 110 via the limiting mechanism and tightly abuts against the outer sleeve 120, and at this time the limiting member makes the outer sleeve 120 only rotate in place, which is beneficial for the doctor to perform the nail withdrawal operation. In a preferred embodiment, as shown in Figure 4 the limiting member is a limiting ring 130, and the limiting ring 130 is provided with a button 131 and is configured to be slidable on the inner core 110 when the button 131 is pressed, and to be fixed on the inner core 110 when the button 131 is released.

[0056] For the nailing system of the embodiment of the present disclosure, the corresponding nail withdrawal process is as follows: first, the doctor reverses the outer sleeve 120 to push out the screw, fixes the limiting member on the inner core 110 via the limiting mechanism and tightly abuts against the outer sleeve 120, at this time the button 131 provides a limiting action, so that the outer sleeve 120 can only rotate in place, and the hollow nail 200 is pushed forward under the action of the thread, and this force applied in the direction away from the hexagonal head 112 can better separate the hollow nailing device 100 and the hollow nail 200.

[0057] The up-pinning system of the embodiments of the present disclosure can realize the operation of robot pinning under short guide wire guidance, avoid the situation that the solid nail slips on the bone surface, and has higher accuracy. The guide wire is designed as a short guide wire suitable for a surgical robot, so that the up-pinning system of the embodiments of the present disclosure is applicable to pinning in a robot surgery state. The up-pinning system according to the embodiments of the present disclosure realizes the automatic up-pinning function of the surgical robot. Since the mechanical arm of the surgical robot is controllable and has high stability, the influence on the operation accuracy caused by the natural tremor of the doctor's operating hand is reduced, the nail channel damage is significantly reduced, the pinning stability is good, and in the nail rod system, the prestress can be effectively reduced to ensure the pinning accuracy. In order to ensure that the guide wire does not continue to enter the bone tissue, the insertion end of the guide wire is designed as a bifurcated guide wire, and a window is designed on the up-pinning system to monitor whether the scale on the guide wire moves relatively, so as to judge the movement of the guide wire. In addition, the up-pinning system according to the embodiments of the present disclosure also has a pinning assistance function, which further improves the safety performance of the robot pinning.

[0058] Although examples of the present disclosure are provided in the foregoing description, those skilled in the art can modify and change the examples without departing from the scope and spirit of the present disclosure. For example, it should be understood that the features of the embodiments herein can be applicable to other embodiments described herein. Therefore, the description is intended to be illustrative rather than restrictive. The disclosure is defined by the appended claims, and all changes to the disclosure that fall within the meaning and equivalent range of the claims will be included within the scope of the claims.

Claims

1. A screw mounting system for a surgical robot, characterized in that, The nailing system includes: Hollow stapler, the hollow stapler comprising: The inner core has a first through hole extending along the axial direction, and An outer sleeve fitted outside the inner core, the distal surface of the outer sleeve having external threads; and A hollow nail, detachably connected to the hollow nailer, the hollow nail comprising: The pin holder has a cavity for assembling the distal portion of the inner core, and the pin holder has an internal thread that matches the external thread of the outer sleeve. A hollow nail head is fixedly connected to the nail seat, and the hollow nail head is provided with a second through hole that extends along the axial direction.

2. The nailing system according to claim 1, characterized in that, The nailing system also includes a guide wire, the radial dimension of which is smaller than the radial dimensions of the first through hole and the second through hole, respectively, such that the guide wire extends from the distal end of the hollow nail through the first through hole and the second through hole.

3. The nailing system according to claim 2, characterized in that, The guidewire includes a guidewire core.

4. The nailing system according to claim 3, characterized in that, The distal end of the guidewire core has a bifurcated structure.

5. The nailing system according to claim 2, characterized in that, The nailing system also includes a quick-connect device, the proximal end of which is connected to the inner core of the hollow nailer, and the distal end of which is connected to a robotic arm.

6. The nailing system according to claim 5, characterized in that, The guidewire is provided with a scale, and the quick connection device is provided with a window for observing the scale.

7. The nailing system according to claim 1, characterized in that, The inner core has a head at its distal end, a stop block is fixedly provided on the inner core, and the nail seat has a positioning groove that matches the head of the inner core and a slot that matches the stop block.

8. The nailing system according to claim 7, characterized in that, The cross-sectional shape of the head of the inner core and the cross-sectional shape of the positioning groove are both hexagonal.

9. The nailing system according to claim 1, characterized in that, A rotating component is fixedly installed at the proximal end of the inner core.

10. The nailing system according to claim 9, characterized in that, The rotating component has a nut structure.

11. The nailing system according to claim 9, characterized in that, The rotating component has holes on its side wall.

12. The nailing system according to claim 1, characterized in that, The limiting member is movably sleeved outside the inner core, and the limiting member is fixed to the inner core via a limiting mechanism.

13. The nailing system according to claim 12, characterized in that, The limiting component is a limiting ring, and the limiting ring is provided with a button and is constructed as follows: When the button is pressed, the limiting ring can slide on the inner core, and When the button is released, the limiting ring is fixed to the inner core.

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