An automatic staple placement system and orthopedic surgical robot

Abstract

This invention provides an automated screw placement system and an orthopedic surgical robot, comprising: a Kirschner wire, including a wire body and a needle tip, the wire body and the needle tip being fixedly connected, the needle tip including a needle point located at the end of the needle tip; a pedicle screw, including a screw body and a milling assembly; and a power platform, including a wire placement module and a screw placement module. The wire placement module is used to place the Kirschner wire into the patient's spine, and the screw placement module is used to place the pedicle screw into the pedicle of the patient's spine. Through the collaborative design of the wire placement module and the screw placement module, the Kirschner wire positioning and screw implantation process are integrated into the same robotic arm operating platform. With the command control of the robot system, the operation time is significantly shortened, the surgical risk is further reduced, and the entire process from Kirschner wire placement to pedicle screw placement is automated.

Description

Technical Field

[0001] This invention relates to the field of robotic automatic screw placement technology, specifically to an automatic screw placement system and an orthopedic surgical robot. Background Technology

[0002] Robot-assisted minimally invasive spinal surgery has been increasingly applied in clinical practice in recent years. Its high-precision positioning via robotic arms assists surgeons in the initial implantation of Kirschner wires. However, current technology still has the following limitations:

[0003] First, existing systems can only achieve initial fixation of the Kirschner wires, while the implantation of pedicle screws still requires manual manipulation by the physician along the Kirschner wire trajectory or advancement using traditional tools. This process requires repeated adjustments to the screw position and angle, is time-consuming, and is prone to decreased screw implantation accuracy due to human error, especially in complex anatomical structures where the risk is exacerbated.

[0004] Secondly, existing screw implantation tools, due to insufficient driving power and rotation speed, are unable to efficiently grind the dense cortical bone at the pedicle inlet, easily leading to problems such as Kirschner wire slippage and screw displacement. For patients with abnormal bone density (such as osteosclerosis or osteoporosis), traditional tools, lacking adaptive control, are prone to insufficient bone tunnel preparation and may even cause damage to surrounding tissues.

[0005] Furthermore, in existing equipment, the Kirschner wire and screw implantation modules are mostly independent structures, resulting in multiple instrument switching issues during the operation process. This not only prolongs the operation time but also increases the risk of intraoperative contamination. Achieving full automation of the precise Kirschner wire implantation and automatic screw placement process, while improving the efficiency and stability of bone tunnel preparation, has become a pressing technical challenge.

[0006] Therefore, the existing technology still needs further development. Summary of the Invention

[0007] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide an automatic screw placement system and an orthopedic surgical robot to solve the problems existing in the prior art.

[0008] To achieve the above-mentioned technical objectives, according to a first aspect of the present invention, an automatic pin placement system is provided, comprising:

[0009] Kirschner wire, comprising a needle body and a needle tip, wherein the needle body is fixedly connected to the needle tip, and the needle tip includes a needle point located at the end of the needle tip;

[0010] Pedicle screw, including screw body and milling assembly;

[0011] The power platform includes a needle placement module and a screw placement module. The needle placement module is used to insert Kirschner wires into the patient's spine, and the screw placement module is used to insert pedicle screws into the pedicles of the patient's spine.

[0012] Specifically, the pin placement module is detachably connected to the Kirschner wire, and the pin placement module includes a robotic arm interface for connecting a robotic arm.

[0013] Specifically, the power platform also includes an upper screw module, on which the pedicle screw is mounted;

[0014] The pin placement module is fixedly connected to the pin placement module, and the pin feeding module is detachably connected to the pin placement module.

[0015] Specifically, the diameter of the Kirschner wire body is larger than the diameter of the needle tip, and the end of the needle tip includes a double-sided cutting edge and a chip removal groove. The double-sided cutting edge is used to cut bone, and the chip removal groove is used to remove debris.

[0016] Specifically, the pin placement module includes a drive shaft, and the pin placement module includes a pin placement housing. A first motor and a main gear are disposed inside the pin placement housing. The first motor and the main gear are connected, and the main gear is connected to the drive shaft. The first motor is used to drive the main gear to rotate, thereby driving the drive shaft to rotate.

[0017] Specifically, the pin housing is further provided with a second motor and a gear shaft. The second motor is connected to the gear shaft. The second motor is used to drive the gear shaft to rotate. The second motor is provided with an inner sleeve for passing Kirschner wires.

[0018] Specifically, the nail mounting housing is further equipped with a third motor, a reducer, and a clutch. The third motor is connected to the reducer, the reducer is connected to the clutch, one end of the gear shaft is equipped with a drive gear, the drive gear is connected to the clutch, and the other end of the gear shaft is connected to a first connecting device, which is detachably connected to the nail mounting module.

[0019] Specifically, the needle placement module includes a needle placement housing, an upper sleeve and a fixed sleeve are disposed inside the needle placement housing, the upper sleeve and the fixed sleeve are fixedly connected, the internal spaces of the upper sleeve and the fixed sleeve are connected for passing Kirschner needles, and the fixed sleeve is fixedly connected to the drive shaft.

[0020] Specifically, the power platform also includes a retainer, which is fixedly connected to the pin mounting module and detachably connected to the pin mounting module.

[0021] Specifically, the screw body has a movable space extending along the extension direction of the screw body, the movable space is used to pass Kirschner wires through, the milling assembly is installed at the end of the screw body, the surface of the milling assembly is provided with threads, the threads are provided with grooves, the milling assembly includes at least two cutting edges, each cutting edge is spaced apart at the end of the screw body along the circumferential direction of the screw body.

[0022] Specifically, the pedicle screw also includes a screw head, which is disposed at the end of the screw body away from the milling assembly. The screw head has a mounting hole that communicates with the moving space.

[0023] Specifically, the pedicle screw further includes: a long tail of the screw body, which is fixedly connected to the screw head;

[0024] The long tail of the nail body has a connecting end and a fixing end. The connecting end of the long tail of the nail body has a first installation space, and the fixing end of the long tail of the nail body has a second installation space. The first installation space and the second installation space are connected, and the nail head is movably disposed in the first installation space.

[0025] Specifically, the pedicle screw further includes a connecting assembly, which includes a first connecting part and a second connecting part connected in sequence. Both the first connecting part and the second connecting part extend along the extension direction of the screw body. The first connecting part is connected to the upper screw module, and the second connecting part is rotatably disposed in the second installation space. The second connecting part is rotatably connected to the fixed end of the long tail of the screw body.

[0026] According to a second aspect of the present invention, an orthopedic surgical robot is provided, comprising the above-described automatic screw placement system, the orthopedic surgical robot further comprising:

[0027] The robot system includes a main control carriage and a main host carriage. The main control carriage includes an industrial computer, a display, and an optical camera. The main host carriage includes a robotic arm. The end of the robotic arm includes a first connecting structure for connecting to the power platform.

[0028] An optical marking module is fixedly disposed on the outer surface of the first connection structure, and the optical marking module is used to identify the pose of the robotic arm.

[0029] Beneficial effects:

[0030] This invention provides an automated screw placement system and an orthopedic surgical robot. The orthopedic surgical robot includes a robot system, a power platform, and matching Kirschner wires and pedicle screws. The power platform is fixedly connected to the end of the robotic arm and rigidly connected to the optical marking module. The automated screw placement system integrates the Kirschner wire positioning and screw implantation process into the same robotic arm operating platform through the collaborative design of the wire placement module and the screw placement module. With the command control of the robot system, the operation time is significantly shortened, and the surgical risk is further reduced. It solves the technical problems of easy Kirschner wire slippage and reliance on manual screw implantation in the prior art, and realizes full automation and precise control from Kirschner wire positioning to screw implantation, providing a more efficient, stable and safe solution for robot-assisted spinal surgery. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structural composition of the automatic nail placement system provided in a specific embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structural composition of the orthopedic surgical robot provided in a specific embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the working process of the main unit trolley provided in a specific embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the Kirschner wire structure provided in a specific embodiment of the present invention;

[0035] Figure 5 This is a plan view of the Kirschner wire provided in a specific embodiment of the present invention;

[0036] Figure 6 This is a 3D diagram of the Kirschner wire provided in a specific embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of Kirschner wire insertion into the pedicle provided in a specific embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram of the Kirschner wire grinding channel provided in a specific embodiment of the present invention;

[0039] Figure 9 This is a structural schematic diagram of the upper nail module provided in a specific embodiment of the present invention;

[0040] Figure 10 This is a schematic diagram of the pedicle screw provided in a specific embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram of the structure of the milling assembly with 6 cutting edges provided in a specific embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of the structure of the milling assembly including two cutting edges provided in a specific embodiment of the present invention;

[0043] Figure 13 This is a schematic diagram of the pressure ring structure provided in a specific embodiment of the present invention;

[0044] Figure 14 This is a schematic diagram of the structure of the connection component provided in a specific embodiment of the present invention;

[0045] Figure 15 This is a cross-sectional schematic diagram of the long tail of the nail body provided in a specific embodiment of the present invention;

[0046] Figure 16 This is a cross-sectional view of the automatic pin placement system provided in a specific embodiment of the present invention;

[0047] Figure 17 This is a structural cross-sectional view of the pin placement module provided in a specific embodiment of the present invention;

[0048] Figure 18 This is a top view of the gear shaft provided in a specific embodiment of the present invention;

[0049] Figure 19 This is a partial front view of the gear shaft provided in a specific embodiment of the present invention;

[0050] Figure 20 This is a structural cross-sectional view of the needle placement module provided in a specific embodiment of the present invention.

[0051] Figure 21 This is a schematic diagram of the structure of the drive shaft provided in a specific embodiment of the present invention;

[0052] Figure 22 This is a schematic diagram of the structure of the fixing sleeve provided in a specific embodiment of the present invention;

[0053] The above figures include the following reference numerals:

[0054] 1. Kirschner wire; 2. Needle placement module; 3. Screw placement module; 4. Needle body; 5. Needle head; 6. Needle tip; 7. Pedicle screw; 8. Robotic arm interface; 10. Screw mounting module; 12. Double-sided cutting edge; 13. Chip removal groove; 14. Drive shaft; 15. Screw placement housing; 16. First motor; 17. Main gear; 18. Second motor; 19. Gear shaft; 20. Inner sleeve; 21. Third motor; 22. Reducer; 23. Clutch; 24. Drive gear; 25. First connecting device; 26. Needle placement housing; 27. Upper sleeve; 28. Fixed sleeve; 29. ​​Cage; 30. Screw body; 31. Milling assembly; 33. Moving space; 34. Screw head; 36. Screw body long tail; 37. Connecting end; 38. Fixing 39. Fixed end; 40. First installation space; 41. Second installation space; 42. Connecting assembly; 43. First connecting part; 44. Second connecting part; 45. Hexagonal shaft; 46. Positioning groove; 47. Fixing nut; 48. Orienting ring; 49. Fixed shaft; 50. Ball groove; 51. Pressure ring; 52. Rotation space; 53. Through hole; 54. Third connecting part; 55. First gear; 56. First lead screw nut; 57. Second gear; 58. Hexagonal anti-rotation structure; 60. Lead screw external thread; 61. Connecting thread; 62. Main control carriage; 63. Main unit carriage; 64. Industrial control computer; 65. Display; 66. Optical camera; 67. Robotic arm; 68. Optical marking module; 69. Power platform; 70. Patient tracer. Detailed Implementation

[0055] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0056] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0057] Please see Figures 1-22 This embodiment provides an automatic screw placement system, including: Kirschner wires 1, pedicle screws 7, and a power platform 69, wherein:

[0058] Kirschner wire 1 includes a needle body 4 and a needle tip 5. The needle body 4 and the needle tip 5 are fixedly connected. The needle tip 5 includes a needle point 6, which is located at the end of the needle tip 5.

[0059] The pedicle screw 7 includes a screw body 30 and a milling assembly 31;

[0060] The power platform 69 includes a needle placement module 2 and a screw placement module 3. The needle placement module 2 is used to insert Kirschner wires 1 into the patient's spine, and the screw placement module 3 is used to insert pedicle screws 7 into the pedicles of the patient's spine.

[0061] It is understood that the tip 6 of the Kirschner wire 1 in this embodiment adopts a hemispherical design, rather than a conventional triangular or conical tip. In this case, the tip is rotated or slowly pushed into the bone during operation. However, the present invention adopts a hemispherical tip 6 design, which increases the contact area between the tip 6 and the bone surface. Combined with the precise force application of the robotic arm, the puncture pressure can be effectively dispersed, reducing the risk of the Kirschner wire 1 sliding on the hard bone surface. This can effectively prevent the deviation of the bone tunnel trajectory caused by the Kirschner wire 1, providing a precise guiding basis for subsequent screw implantation. Furthermore, the control module controls the needle placement module 2 and the screw placement module 3 to complete the automatic needle placement or automatic screw placement operation, solving the technical problems of easy slippage of the Kirschner wire 1 and reliance on manual screw implantation in the prior art.

[0062] See Figure 1 In the automatic screw placement system of this embodiment, the needle placement module 2 is detachably connected to the Kirschner wire 1, the screw placement module 3 includes a robotic arm interface 8 for connecting the robotic arm 67, the power platform 69 also includes a screw mounting module 10, the pedicle screw 7 is mounted on the screw mounting module 10, the screw placement module 3 is fixedly connected to the needle placement module 2, and the screw mounting module 10 is detachably connected to the screw placement module 3. Through the design of fixed and detachable connection between modules, the continuity and flexibility of the operation process are further optimized while ensuring surgical accuracy.

[0063] See Figures 4-6 In the automated pin placement system of this embodiment, the diameter of the needle body 4 is larger than the diameter of the needle tip 5, ensuring the stability of the Kirschner wire 1 after insertion. The end of the needle tip 5 includes a double-sided cutting edge 12 and a chip removal groove 13. The double-sided cutting edge 12 is used to cut bone, and the chip removal groove 13 is used to remove debris. The double-sided cutting edge 12 is located at the end of the needle tip 5 and has a sharp cutting edge. The chip removal groove 13 is located at the end of the needle tip 5. During the cutting process, the generated bone debris is smoothly discharged through the chip removal groove 13, avoiding the blockage problem caused by bone debris accumulation and improving surgical efficiency. The chip removal groove 13 extends along the needle tip 5 and fits tightly with the double-sided cutting edge 12 to ensure a smooth cutting process. The double-sided cutting edge 12 is adjacent to the chip removal groove 13, and together they complete the functions of cutting and chip removal. The needle tip 6 is hemispherical. This design can reduce the risk of damage to nerves or other tissues when the Kirschner wire 1 accidentally enters the medullary cavity. If the Kirschner wire 1 is inserted to a depth beyond the plan and enters the medullary cavity, the hemispherical needle tip 5 can act as a buffer to avoid the sharp edge causing serious damage to the nerves or tissues in the medullary cavity. This greatly increases the safety of the operation, reduces the risk of complications, solves the problem of Kirschner wire 1 slippage, and further avoids the sharp tip causing damage to the patient's intramedullary nerves or tissues.

[0064] Further, see Figures 7-8 When the Kirschner wire 1 is working, the needle placement module 2 drives the Kirschner wire 1 to rotate at high speed. Under the action of the double-sided cutting edge 12 of the needle tip 5, the bone in the cutting channel is finally left in the pedicle, such as... Figure 6 As shown, after the pedicle screw 7 is inserted and removed, the needle 5 is responsible for cutting bone and guiding the Kirschner wire 1 into the bone. Its design allows the Kirschner wire 1 to effectively cut bone at high speed and remove debris through the chip removal groove 13. If the Kirschner wire 1 is inserted to a depth beyond the plan and enters the medullary canal, its hemispherical needle 5 can avoid serious damage to the nerves or tissues in the medullary canal, enabling high-speed grinding of the Kirschner wire 1, preventing the Kirschner wire 1 from slipping, and the hemispherical needle 5 can protect the patient from accidental injury.

[0065] See Figure 9 In some specific embodiments, the pedicle screw 7 is mounted on the upper screw module 10. The upper screw module 10, from top to bottom, is provided with a hexagonal shaft 44, a positioning groove 45, a fixing nut 46, a directional ring 47, and a fixing shaft 48. The hexagonal shaft 44, as the core component for power transmission, transmits rotational torque to the pedicle screw 7 by matching its hexagonal cross-section with the interface of the screw placement module 3. The multi-plane contact design of the hexagonal cross-section effectively prevents slippage during torque transmission, ensuring the stability of the rotation of the pedicle screw 7. The positioning groove 45 provides mechanical feedback and limit control for the implantation depth of the pedicle screw 7. (See [reference needed]). Figure 14 The first connecting device 25 is provided with a ball groove 49, which is used to assemble a limiting steel ball, i.e., a positioning ball. When the pedicle screw 7 reaches the predetermined depth, the positioning groove 45 cooperates with the positioning ball on the first connecting device 25. The positioning groove 45 is used to ensure that the upper screw module 10 is installed in place and locked. The fixing nut 46 is used to lock the connection between the pedicle screw 7 and the upper screw module 10, ensuring that the screw will not fall off during the implantation process. The directional ring 47 is used to control the angle and direction of the pedicle screw 7 implantation, ensuring that it is consistent with the preoperative planned trajectory. The fixing shaft 48 serves as the main support structure of the upper screw module 10, connecting the various components and transmitting axial thrust. It evenly transmits the thrust generated by the motor in the screw placement module 3 to the screw tip, avoiding bone structure damage caused by local stress concentration. The above design, through the precise cooperation of the mechanical structure, solves the problems of screw slippage and displacement caused by insufficient torque, angle deviation, or depth loss control in traditional manual operation, significantly improving the safety and efficiency of the operation.

[0066] See Figure 10In some specific embodiments, the pedicle screw 7 is detachably connected to the upper screw module 10. The pedicle screw 7 includes a screw body 30 and a milling assembly 31. The screw body 30 has a moving space 33 extending along the extension direction of the screw body 30. The moving space 33 is used to pass through the Kirschner wire 1. The milling assembly 31 is installed at the end of the screw body 30. The surface of the milling assembly 31 is provided with threads and grooves. The milling assembly 31 includes at least two cutting edges, and each cutting edge is spaced apart at the end of the screw body 30 along the circumferential direction of the screw body 30.

[0067] Furthermore, when it is necessary to contact the Kirschner wire 1 with the target bone, the target bone is cut into a recess by the high-speed rotation of the milling assembly 31, wherein the rotation speed is preferably 5000RPM-15000RPM, so that one end of the Kirschner wire 1 moves to the recess through the moving space 33 to guide the implantation direction of the screw body 30.

[0068] By adopting the above technical solution, the milling component 31 has threads on its surface, and the threads have grooves, which can effectively cut bone and create a channel for screw entry. The groove design helps to remove bone fragments generated during the cutting process, prevents blockage, and maintains cutting efficiency. At least two cutting edges are spaced apart circumferentially along the screw body to increase cutting efficiency. Multiple evenly distributed cutting edges can provide multi-point contact during rotation, increasing the cutting area and improving cutting efficiency. This pedicle screw design comprehensively considers the precision of surgical operation, cutting efficiency, and fixation stability. It can not only effectively guide and insert the screw, but also efficiently cut bone and ensure firm fixation, providing reliable technical support for orthopedic surgery.

[0069] Please refer to Figure 12 In some specific embodiments, the milling component 31 can be configured with two cutting edges, each extending in a preset direction, and the two cutting edges are disposed on both sides of the screw body 30.

[0070] See Figure 11 In some specific embodiments, the milling component 31 can be configured with six cutting edges, each extending along a preset direction and spaced apart at the end of the screw body 30 along the circumferential direction. Specifically, the selection of different cutting edge numbers and layouts should be determined according to specific surgical needs, bone hardness, and required cutting efficiency and precision.

[0071] For details, see Figure 11 or Figure 12 The pedicle screw 7 also includes a screw head 34, which is located at the end of the screw body 30 away from the milling assembly 31. The screw head 34 has a mounting hole that communicates with the moving space 33.

[0072] For details, see Figure 14 , Figure 15 and Figure 10 The pedicle screw 7 also includes: a long tail 36 of the screw body, which is fixedly connected to the screw head 34; the long tail 36 of the screw body has a connecting end 37 and a fixing end 38, the connecting end 37 of the long tail 36 of the screw body has a first installation space 39, and the fixing end 38 of the long tail 36 of the screw body has a second installation space 40, the first installation space 39 and the second installation space 40 are connected, and the screw head 34 is movably disposed in the first installation space 39. The design of the long tail 36 of the screw body facilitates the rapid implantation of the screw body 30 and increases the implantation speed.

[0073] See Figure 13 The pedicle screw 7 also includes a pressure ring 50, which is disposed in the first mounting space 39. A rotation space 51 is provided on one side of the pressure ring 50, and a through hole 52 communicating with the rotation space 51. The screw head 34 is movably disposed in the rotation space 51. The design of the pressure ring 50 facilitates the limiting of the screw head 34 and prevents the screw head 34 from detaching from the long tail 36 of the screw body.

[0074] For details, see Figure 14 The pedicle screw 7 also includes a connecting assembly 41, which includes a first connecting part 42 and a second connecting part 43 connected in sequence. Both the first connecting part 42 and the second connecting part 43 extend along the extension direction of the screw body 30. The first connecting part 42 is connected to the upper screw module 10, and the second connecting part 43 is rotatably disposed in the second installation space 40. The second connecting part 43 is rotatably connected to the fixing end 38 of the long tail 36 of the screw body.

[0075] See Figure 15 In some specific embodiments, the connecting component 41 has a first connecting end and a second connecting end. The first connecting end of the connecting component 41 is used to connect to the nail head 34 through the second mounting space 40 and the through hole 52. The second connecting end of the connecting component 41 is used to connect to the nail mounting module 10. The nail placement module 3 is used to drive the screw body 30 to rotate forward or backward through the connecting component 41.

[0076] In some specific embodiments, see Figure 14The connecting component 41 includes a first connecting part 42, a second connecting part 43, and a third connecting part 54 connected in sequence. All three parts extend along the extension direction of the screw body 30. The first connecting part 42 is connected to the fixed shaft 48 of the upper screw module 10. The second connecting part 43 is rotatably disposed within the second mounting space 40 and rotatably connected to the fixed end 38 of the long tail 36 of the screw body. The third connecting part 54 passes sequentially through the second mounting space 40, the first mounting space 39, and the through hole 52, connecting to the screw head 34. The upper screw module 10, the long tail 36 of the screw body, and the screw head 34 are connected via the first connecting part 42, the second connecting part 43, and the third connecting part 54, respectively, to prepare for the next step of screw body 30 implantation. This eliminates the need for manual implantation, allowing for faster and more precise implantation by the robot.

[0077] Furthermore, the aforementioned screw-on module 10 can be replaced with other tools, such as an automatic retractor or other surgical instruments that require actuation.

[0078] See Figure 16 and Figure 17 In the automatic pin placement system of this embodiment, the pin placement module 2 includes a drive shaft 14, and the pin placement module 3 includes a pin placement housing 15. A first motor 16 and a main gear 17 are disposed inside the pin placement housing 15. The first motor 16 and the main gear 17 are connected, and the main gear 17 is connected to the drive shaft 14. The first motor 16 is used to drive the main gear 17 to rotate, thereby driving the drive shaft 14 to rotate.

[0079] Further, see Figure 16 and Figure 17 The first motor 16 includes an output shaft, and a main gear 17 is mounted on the output shaft of the first motor 16 via a key connection or other suitable fixing method (such as fastening screws) to ensure that the rotation of the output shaft of the first motor 16 can be directly transmitted to the main gear 17. The main gear 17 is connected to the transmission shaft 14, as shown below. Figure 21 The structure of the drive shaft 14 is shown. The drive shaft 14 includes a first gear 55 and a first lead screw nut 56. Therefore, the main gear 17 and the drive shaft 14 are connected by gear meshing to achieve transmission.

[0080] For details, see Figure 16 and Figure 17 The pin housing 15 is also equipped with a second motor 18 and a gear shaft 19. The second motor 18 and the gear shaft 19 are connected. The second motor 18 is used to drive the gear shaft 19 to rotate. The second motor 18 is equipped with an inner sleeve 20 for passing Kirschner needles 1.

[0081] See Figure 17 and Figure 18In some specific embodiments, the gear shaft 19 includes a second gear 57 and a hexagonal anti-rotation structure 58, such as... Figure 15 As shown, the hexagonal anti-rotation structure 58 matches the hexagonal shaft 44 of the upper nail module 10. The hexagonal anti-rotation structure 58 forms a rigid fit with the corresponding interface of its connecting component through its hexagonal cross-section, ensuring that the gear shaft 19 remains synchronized with adjacent components during rotation, and avoiding power loss due to slippage or misalignment during torque transmission. The inner sleeve 20 is located at the center of the second motor 18 to allow the Kirschner wire 1 to pass stably when the second motor 18 is running, avoiding interference, while maintaining precise position control.

[0082] Furthermore, the output shaft of the second motor 18 can be designed as a hexagonal shaft 44, forming a tight geometric match with the inner hole of the hexagonal anti-rotation structure 58 of the gear shaft 19, such as... Figure 18 and Figure 19 As shown, the hexagonal cross section achieves gapless meshing through multi-plane contact, ensuring no relative slippage during torque transmission. The inner sleeve 20 of the second motor 18 passes through the center of its output shaft, and the hexagonal anti-rotation structure 58 of the gear shaft 19 also has a coaxial through hole inside, forming a continuous Kirschner wire 1 channel.

[0083] For details, see Figure 14 The housing 15 also contains a third motor 21, a reducer 22 and a clutch 23. The third motor 21 is connected to the reducer 22 and the reducer 22 is connected to the clutch 23.

[0084] See Figure 17 In some specific embodiments, the third motor 21 is directly connected to the input end of the reducer 22 via its output shaft. A key connection or coupling can be used to ensure that the rotational motion of the third motor 21 can be efficiently transmitted to the reducer 22. The output end of the reducer 22 is connected to the input end of the clutch 23. It can be rigidly engaged with the input end of the clutch 23 via a spline connection or a hexagonal anti-rotation structure 58. The reducer 22 is used to convert the high-speed, low-torque output of the third motor 21 into a low-speed, high-torque output suitable for subsequent transmission. Then, the clutch 23 controls the engagement and disengagement of power.

[0085] For details, see Figure 17 One end of the gear shaft 19 is equipped with a drive gear 24, which is connected to the clutch 23. The other end of the gear shaft 19 is connected to the first connecting device 25, which is detachably connected to the upper nail module 10.

[0086] See Figure 17In some specific embodiments, the output end of the clutch 23 is connected to the drive gear 24. The working process is as follows: when the clutch 23 is engaged, the drive gear 24 is driven to rotate; when the clutch 23 is disengaged, the drive gear 24 stops rotating. The connection between the clutch 23 and the drive gear 24 can be achieved by spline, flat key or other mechanical connection methods. The drive gear 24 is mounted on the gear shaft 19 and drives the gear shaft 19 to rotate by meshing. The other end of the gear shaft 19 is fixedly connected to the first connecting device 25. The first connecting device 25 is used to conveniently install and remove the upper nail module 10.

[0087] See Figure 20 The needle placement module 2 includes a needle placement housing 26, inside which is provided an upper sleeve 27 and a fixed sleeve 28. The upper sleeve 27 and the fixed sleeve 28 are fixedly connected, and the fixed sleeve 28 is fixedly connected to the drive shaft 14. This design can ensure that the drive shaft 14 can drive the fixed sleeve 28 to move together when rotating. The Kirschner needle 1 is detachably connected to the upper sleeve 27.

[0088] For details, see Figure 20 and Figure 21 The drive shaft 14 includes a first gear 55 and a first lead screw nut 56. The first lead screw nut 56 has a lead screw thread, and the fixed sleeve 28 is provided with a lead screw external thread 60. The fixed sleeve 28 is connected to the drive shaft 14 by threads.

[0089] See Figure 20 and Figure 22 The upper sleeve 27 is located above the fixed sleeve 28. The fixed sleeve 28 is provided with a connecting thread 61 on its upper side and a lead screw external thread 60 on its lower side. The upper sleeve 27 and the fixed sleeve 28 are fixed by a threaded connection. The fixed sleeve 28 is also connected to the drive shaft 14 by a thread. The upper sleeve 27 and the fixed sleeve 28 are provided with coaxial through holes for passing Kirschner wires 1. Together with the inner sleeve 20 in the pin placement module 3, they form a Kirschner wire 1 channel. The drive shaft 14 is connected to the main gear 17 by meshing through the first gear 55.

[0090] See Figure 1 The automatic pin placement system in this embodiment also includes a retainer 29, which is fixedly connected to the pin placement module 3 and detachably connected to the pin mounting module 10. This helps the pin mounting module 10 to rotate more smoothly at high speed, thereby driving the pedicle screw 7 to rotate at high speed.

[0091] It should be further explained that, see [link / reference] Figures 1-22 The working process of the automatic pin placement system in this embodiment is as follows:

[0092] (1) Preoperative preparation

[0093] The operation process of Kirschner wire 1 and mounting module 10 before spinal surgery includes: first, installing pedicle screw 7 on mounting module 10 through fixing nut 46, mounting module 10 on mounting module 3 through first connecting device 25, and then assembling it on robotic arm through robotic arm interface 8 to complete preoperative preparation.

[0094] (2) Surgical procedure

[0095] After the robotic arm moves the power platform 69 in this embodiment to the planned position, the robot system issues a command to automatically place the pedicle screw. The first motor 16 in the placement module 3 drives the main gear 17 to rotate, which in turn drives the transmission shaft 14 to rotate. Under the action of the first lead screw nut 56 of the transmission shaft 14, the fixing sleeve 28 and the Kirschner wire 1 move downward to the required depth. Then, the second motor 18 drives the gear shaft 19 to rotate at high speed, thereby driving the placement module 10 to rotate at high speed. The retainer 29 can help the placement module 10 rotate more smoothly at high speed. At the same time, the robotic arm moves downward along the axis of the pedicle screw 7 until the milling component 31 of the pedicle screw 7 completely grinds the cortical bone of the patient's spine. Then, the robotic arm and the first motor 16 stop moving. The third motor 21 rotates slowly under the action of the reducer 22. At the same time, the clutch 23 engages, driving the drive gear 24 to rotate. The drive gear 24 drives the gear shaft 19 and the placement module 10 to rotate, thereby realizing the placement of the pedicle screw 7.

[0096] It should be noted that this embodiment provides an automated screw placement system. Through the collaborative design of the needle placement module and the screw placement module, the system integrates the Kirschner wire positioning and screw implantation process into the same robotic arm operating platform. With the command control of the robot system, the operation time is significantly shortened, the risk of contamination is further reduced, and the technical problems of easy Kirschner wire slippage and reliance on manual screw implantation in the prior art are solved. The system realizes full automation and precise control from Kirschner wire positioning to screw implantation, providing a more efficient, stable and safe solution for robot-assisted spinal surgery.

[0097] Please see Figure 2 and Figure 3 This embodiment provides an orthopedic surgical robot, including the aforementioned automatic screw placement system, and also includes a robot system. The robot system includes a main control carriage 62 and a host carriage 63. The main control carriage 62 includes an industrial computer 64, a display 65, and an optical camera 66. The host carriage 63 includes a robotic arm 67. The end of the robotic arm 67 includes a first connecting structure for connecting to a power platform 69. An optical identification module 68 is provided on the outer surface of the first connecting structure for identifying the posture of the robotic arm.

[0098] Furthermore, the screw placement module 3 includes a robotic arm interface 8, that is, the screw placement module 3 is connected to the first connection structure at the end of the robotic arm 67 through the robotic arm interface 8, thereby realizing the connection between the power platform 69 and the orthopedic surgical robot. That is, the orthopedic robot can control the screw placement process of the automatic screw placement system through commands, thereby realizing the automatic placement process of the pedicle screw 7.

[0099] It is understandable that by placing the power platform 69 at the end of the robotic arm 67 of the robot system, this embodiment realizes the automation of the entire process from the insertion of the Kirschner wire 1 to the insertion of the pedicle screw 7, greatly reducing the manual operation required by doctors.

[0100] See Figure 2 In the orthopedic surgical robot of this embodiment, each component of the robot system (industrial control computer 64, display 65, optical camera 66, and optical identification module 68) undertakes specific functions and tasks. Specifically, the industrial control computer 64 is the control center of the entire robot system, responsible for processing data from various sensors and sending instructions to the robotic arm and other actuators. It can process a large amount of image, position, and posture information in real time and store this data for subsequent analysis or recording. Doctors can plan, identify, and monitor in real time using a keyboard and mouse. The main controller controls the robotic arm of the host computer to perform various operations via a network cable. The industrial control computer 64 runs various control algorithms and image processing algorithms for path planning, posture recognition, and error correction. The display 65 provides an intuitive operating interface for the operator. Through the display 65, the operator can view the robot's working status in real time, including the position and posture of the robotic arm and images of the surgical area. The display 65 is usually equipped with touch functionality, allowing the operator to directly set parameters and make manual adjustments on the interface. An optical camera 66 is used to capture images of the surgical area, providing high-resolution visual feedback. Through image processing technology, the optical camera 66 can accurately locate the target position and track the target's movement in real time. An optical tagging module 68 is installed at the end of the robotic arm to identify the robotic arm's posture (position and orientation). It typically consists of a set of reflective markers that can be tracked by an external camera or other optical sensors. Based on the identified posture information, the optical tagging module 68 can help the robotic arm achieve precise motion control, ensuring that it moves along a predetermined trajectory.

[0101] Furthermore, a closed-loop control system is formed through the collaborative operation of the industrial control computer, monitor, optical camera, and optical marking module. The industrial control computer is responsible for overall control and data processing, the monitor provides the human-machine interface, the optical camera provides visual feedback, and the optical marking module ensures the precise operation of the robotic arm. This significantly improves the overall accuracy and reliability of the system, enabling the automated staple placement system to operate efficiently in complex medical environments. Moreover, through real-time monitoring and feedback mechanisms, the system not only improves the success rate of surgery but also reduces patient trauma and recovery time, thereby enhancing the overall efficiency of the procedure.

[0102] See Figure 2 The working process of the orthopedic surgical robot in this embodiment will be illustrated below with a specific example:

[0103] Step 1: After the operating table is draped, the patient lies prone on the operating table;

[0104] Step 2: Place the patient tracer 70 on the patient's vertebral body and use the optical camera 66 to identify the position of the vertebral body;

[0105] Step 3: Arrange the main control carriage 63 and the main control carriage 62 in a reasonable position. Generally, the main control carriage 62 is located on the side of the patient's head, and the main control carriage 63 is located on the opposite side of the operating table, close to the lesion area (i.e., the area of ​​the vertebral body where the screws are placed). Before placing them, cover the main control carriage 62 and the main control carriage 63 with a sterile film to ensure a sterile environment.

[0106] Step 4: Use the optical camera 66 to capture CBCT images during the operation and transmit them to the industrial control computer 64 in the main control carriage to plan the implantation site and specifications of the pedicle screw 7 as needed.

[0107] Step 5: Fix the sterilized power platform 69 to the end of the robotic arm 67 and rigidly connect it to the optical marking module 68;

[0108] Step 6: After connecting the pedicle screws with screws, they can be connected to the power platform 69 through the quick connection mechanism, i.e. the first connection structure. In the minimally invasive procedure, a protective sleeve is designed to protect the pedicle screws 7, preventing them from rubbing against the soft tissue during entry into the skin and placement, thus preventing injury to the patient. The form of this sleeve is not limited.

[0109] Step 7: Insert the Kirschner wire 1 into the power platform 69, and align the tip 6 of the Kirschner wire 1 with the tip of the pedicle screw 7 before tightening.

[0110] Step 8: According to the plan, the robot system guides the robotic arm to the planned screw position, keeps the axis of the pedicle screw 7 and the power platform 69 aligned with the axis of the planned screw, and inserts the pedicle screw 7 into the skin that has been incised (in the case of minimally invasive surgery) along the axis. The insertion stops when the tip of the pedicle screw 7 contacts the cortex.

[0111] Step 9: The power platform 69 controls the pedicle screw 7 to rotate in the opposite direction at high speed (>10000RPM) and penetrate into the bone 2-5mm along the axis, ensuring that it stops after breaking through the cortical bone. During this process, a protective sleeve is set between the pedicle screw 7 and the upper screw module 10 and the skin to prevent scratching the soft tissue.

[0112] Step 10: The power platform 69 controls the movement of the Kirschner wire 1 to probe the tip of the pedicle screw 7 by 5-10 mm, thus creating a guiding effect within the pedicle.

[0113] Step 11: The power platform 69 controls the pedicle screw 7 to rotate forward and applies axial pressure. At this time, the pedicle screw 7 rotates under the guidance of the Kirschner wire 1, engages with the bone, and gradually enters the bone until the tip of the pedicle screw 7 is aligned with the tip of the Kirschner wire 1.

[0114] Step 12: Repeat steps 10 and 11 until the pedicle screw 7 reaches the planned position. The monitor 65 can observe whether the planned position has been reached.

[0115] Step 13: After the power platform 69 controls the Kirschner wire 1 to retract to a certain position, the screw mounting module 10 is manually released, and the robotic arm drives the entire power platform 69 to retract, completing the implantation of a pedicle screw.

[0116] It should be noted that this embodiment provides an orthopedic surgical robot, including a robot system, an automatic screw placement system, and matching Kirschner wires and pedicle screws. The power platform is fixedly connected to the end of the robotic arm and rigidly connected to the optical marking module. Through the collaborative design of the wire placement module and the screw placement module, the system integrates the Kirschner wire positioning and screw implantation process into the same robotic arm operating platform. With the command control of the robot system, the operation time is significantly shortened, the risk of contamination is further reduced, and the technical problems of easy Kirschner wire slippage and reliance on manual screw implantation in the prior art are solved. It realizes full automation and precise control from Kirschner wire positioning to screw implantation, providing a more efficient, stable and safe solution for robot-assisted spinal surgery.

[0117] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0118] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic staple placement system, characterized in that, include: Kirschner wire (1) includes a needle body (4) and a needle tip (5), wherein the needle body (4) is fixedly connected to the needle tip (5), and the needle tip (5) includes a needle tip (6), wherein the needle tip (6) is located at the end of the needle tip (5); The pedicle screw (7) includes a screw body (30) and a milling assembly (31). The power platform (69) includes a needle placement module (2) and a screw placement module (3), wherein the needle placement module (2) is used to place Kirschner wires (1) into the patient's spine, and the screw placement module (3) is used to place pedicle screws (7) into the pedicles of the patient's spine. The power platform (69) also includes an upper nail module (10), on which the pedicle screw (7) is mounted; The pin placement module (3) is fixedly connected to the pin placement module (2), and the pin mounting module (10) is detachably connected to the pin placement module (3); The pin placement module (2) includes a drive shaft (14), and the pin placement module (3) includes a pin placement housing (15). A first motor (16) and a main gear (17) are provided inside the pin placement housing (15). The first motor (16) and the main gear (17) are connected. The main gear (17) is connected to the drive shaft (14). The first motor (16) is used to drive the main gear (17) to rotate, thereby driving the drive shaft (14) to rotate. The pin housing (15) is also provided with a second motor (18) and a gear shaft (19). The second motor (18) and the gear shaft (19) are connected. The second motor (18) is used to drive the gear shaft (19) to rotate. The second motor (18) is provided with an inner sleeve (20) for passing Kirschner wires (1). The nail mounting housing (15) is also equipped with a third motor (21), a reducer (22) and a clutch (23). The third motor (21) is connected to the reducer (22), the reducer (22) is connected to the clutch (23), one end of the gear shaft (19) is equipped with a drive gear (24), the drive gear (24) is connected to the clutch (23), and the other end of the gear shaft (19) is connected to the first connecting device (25). The first connecting device (25) is detachably connected to the nail mounting module (10).

2. The automatic nail placement system according to claim 1, characterized in that, The needle placement module (2) is detachably connected to the Kirschner wire (1), and the pin placement module (3) includes a robotic arm interface (8), which is used to connect a robotic arm (67).

3. The automatic staple placement system according to claim 1, characterized in that, The diameter of the needle body (4) of the Kirschner wire (1) is larger than the diameter of the needle tip (5). The end of the needle tip (5) includes a double-sided cutting edge (12) and a chip removal groove (13). The double-sided cutting edge (12) is used to cut bone, and the chip removal groove (13) is used to remove debris.

4. The automatic nail placement system according to claim 1, characterized in that, The needle placement module (2) includes a needle placement housing (26), an upper sleeve (27) and a fixed sleeve (28) are provided inside the needle placement housing (26), the upper sleeve (27) and the fixed sleeve (28) are fixedly connected, the internal spaces of the upper sleeve (27) and the fixed sleeve (28) are connected for passing Kirschner needles (1), and the fixed sleeve (28) is fixedly connected to the drive shaft (14).

5. The automatic nail placement system according to claim 1, characterized in that, The power platform (69) also includes a retainer (29), which is fixedly connected to the pin mounting module (3) and detachably connected to the pin mounting module (10).

6. The automatic nail placement system according to claim 1, characterized in that, The screw body (30) has a movable space (33) extending along the extension direction of the screw body (30). The movable space (33) is used to pass through the Kirschner wire (1). The milling assembly (31) is installed at the end of the screw body (30). The surface of the milling assembly (31) is provided with threads and grooves. The milling assembly (31) includes at least two cutting edges, and each cutting edge is spaced apart at the end of the screw body (30) along the circumferential direction of the screw body (30).

7. The automatic staple placement system according to claim 6, characterized in that, The pedicle screw (7) also includes a screw head (34), which is located at one end of the screw body (30) away from the milling assembly (31). The screw head (34) has an installation hole that communicates with the moving space (33).

8. The automatic staple placement system according to claim 7, characterized in that, The pedicle screw (7) further includes: a long tail (36) of the screw body, which is fixedly connected to the screw head (34); The long tail of the nail body (36) has a connecting end (37) and a fixing end (38). The connecting end (37) of the long tail of the nail body (36) has a first installation space (39), and the fixing end (38) of the long tail of the nail body (36) has a second installation space (40). The first installation space (39) and the second installation space (40) are connected. The nail head (34) is movably disposed in the first installation space (39).

9. The automatic nail placement system according to claim 8, characterized in that, The pedicle screw (7) further includes a connecting assembly (41), which includes a first connecting part (42) and a second connecting part (43) connected in sequence. The first connecting part (42) and the second connecting part (43) both extend along the extension direction of the screw body (30). The first connecting part (42) is connected to the upper screw module (10). The second connecting part (43) is rotatably disposed in the second installation space (40). The second connecting part (43) is rotatably connected to the fixing end (38) of the long tail (36) of the screw body.

10. An orthopedic surgical robot, characterized in that, The orthopedic surgical robot, comprising the automatic screw placement system according to any one of claims 1-9, further includes: The robot system includes a main control carriage (62) and a host carriage (63). The main control carriage (62) includes an industrial computer (64), a display (65) and an optical camera (66). The host carriage (63) includes a robotic arm (67). The end of the robotic arm (67) includes a first connection structure for connecting the power platform (69). An optical identification module (68) is fixedly provided on the outer surface of the first connection structure. The optical identification module (68) is used to identify the pose of the robotic arm (67).

Images