A spine minimally invasive surgery nail placing device and system

Abstract

The utility model discloses a kind of spinal minimally invasive surgery nail placing device and system, including with vertebral pedicle screw detachably connected nailer assembly, nailer assembly is installed in the end of main shaft, main shaft rotation drives nailer assembly and vertebral pedicle screw rotation realizes nail placing, kirschner wire is through nailer assembly and vertebral pedicle screw;In the present application, by the rotation of main shaft, drive nailer assembly and vertebral pedicle screw rotation reach planned depth after, kirschner wire moves in connecting channel and extends vertebral pedicle screw and enters patient bone planned position, to fix operation site, again by main shaft drive vertebral pedicle screw rotation realizes and implants vertebral pedicle screw into patient bone, then kirschner wire reverse motion exits patient bone, dismount nailer assembly and withdraw nail placing device, complete the implantation of vertebral pedicle screw, above-mentioned setting reduces the labor of doctor, can effectively improve nail placing efficiency, and avoid the operation risk caused by kirschner wire skidding due to manual operation.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a spinal minimally invasive surgery nail placement device and system. Background Technology

[0002] Robot-assisted minimally invasive spinal surgery has been widely used in clinical practice. However, the current application mainly involves using a robot to fix Kirschner wires to the surgical site, and then manually or with the help of special tools to insert pedicle screws along the Kirschner wires. The above-mentioned method of inserting pedicle screws is inefficient, and the Kirschner wires are prone to slippage during the insertion process, which increases the surgical risk. Utility Model Content

[0003] To address the shortcomings of existing technologies, a minimally invasive spinal surgery screw placement device and system is proposed, which solves the problems of low efficiency and easy slippage of Kirschner wires in the aforementioned background technologies, where pedicle screws are manually or with the aid of special tools to be inserted along the Kirschner wires.

[0004] To achieve the above objectives, the present invention proposes the following technologies: A minimally invasive spinal surgery screw placement device includes a screw inserter assembly detachably connected to a pedicle screw. The screw inserter assembly is installed at the end of a main shaft. The rotation of the main shaft drives the screw inserter assembly and the pedicle screw to rotate and place the screw. The main shaft is provided with a connecting channel for inserting Kirschner wires. The Kirschner wires pass through the screw inserter assembly and the pedicle screws to facilitate the extension of the pedicle screws to fix the surgical site.

[0005] Furthermore, it also includes a first drive assembly for driving the spindle to rotate, and a second drive assembly for driving the Kirschner wire to rotate and extend. The second drive assembly drives the Kirschner wire to extend and the pedicle screw to fix the surgical site, so that the first drive assembly can drive the pedicle screw to rotate to achieve screw placement.

[0006] Furthermore, the screw inserter assembly includes a screw inserter shaft, one end of which is inserted into the main shaft so that it can be rotated by the main shaft, and the other end is provided with a connector for inserting pedicle screws, and a limiting mechanism for locking the pedicle screws is sleeved on the outside of the connector.

[0007] Furthermore, the limiting mechanism includes a screw clamp fixed to the end of the screw feeder shaft. The screw clamp is provided with multiple clamp buckles distributed circumferentially along the connector. A limiting shaft is sleeved on the outside of the screw clamp. The limiting shaft moves axially along the screw feeder shaft to push the multiple clamp buckles together to clamp and fix the pedicle screw.

[0008] Furthermore, it also includes a first housing for mounting the first drive assembly and connecting the robotic arm, a second housing for mounting the second drive assembly is provided above the first housing, and the output end of the second drive assembly is connected to a Kirschner wire connecting mechanism extending to the outside of the second housing for mounting Kirschner wires.

[0009] Furthermore, the second drive component includes a motor, and the Kirschner wire connection mechanism includes a connecting shaft. The top end of the connecting shaft is provided with an interface for connecting the output shaft of the motor, and the bottom end of the connecting shaft is provided with a locking groove for locking the end of the Kirschner wire. A limiting sleeve is provided on the outside of the connecting shaft, and the limiting sleeve slides to the outside of the locking groove to limit the Kirschner wire in the locking groove.

[0010] Furthermore, the second drive assembly also includes an electric cylinder arranged parallel to the connecting shaft. The telescopic end of the electric cylinder is fixedly connected to the motor, thereby driving the Kirschner wire, which rotates synchronously with the connecting shaft, to extend or retract within the connecting channel.

[0011] Furthermore, the first housing is provided with a drive cavity for installing the first drive assembly. The first drive assembly includes a rotor sleeved around the main shaft and a stator sleeved around the rotor. The stator drives the rotor and the main shaft to rotate within the first housing, thereby causing the pedicle screw to rotate.

[0012] Furthermore, a cable cavity is provided inside the first housing, and a cable connector for connecting cables is provided on the first housing. A cable isolation sleeve is installed inside the cable cavity and sleeved around the spindle. The cable cavity is connected to the drive cavity to facilitate cable routing and connection to the first drive assembly. The spindle extends to the outside of the first housing and is rotatably connected to the first housing via a bearing. A quick-release mechanism for connecting the stapler assembly is provided at the end of the spindle. The stapler assembly is detachably connected to the spindle via the quick-release mechanism.

[0013] A screw placement system, comprising the screw placement device for minimally invasive spinal surgery as described in any one of the above claims, the screw placement system further comprising: The main control carriage includes an industrial computer, a display, and an optical camera. The main control carriage includes a robotic arm. The end of the robotic arm is provided with a connection end for connecting to the pin placement device. An optical marking module is installed on the connection end for identifying the position and posture of the robotic arm.

[0014] Compared with the prior art, the comprehensive effects brought about by this utility model include: In this application, the rotation of the spindle drives the screw-inserting assembly and the pedicle screw to rotate to the planned depth. The Kirschner wire then moves within the connecting channel to extend the pedicle screw and enter the planned position within the patient's bone to fix the surgical site. The spindle then drives the pedicle screw to rotate, thus implanting the pedicle screw into the patient's bone. The Kirschner wire then moves in the opposite direction to withdraw from the patient's bone. The screw-inserting assembly is then disassembled, and the screw-inserting device is removed, completing the pedicle screw implantation. This setup reduces the workload of the surgeon, effectively improves screw placement efficiency, and avoids the surgical risks caused by Kirschner wire slippage due to manual operation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model; Figure 2 This is a cross-sectional structural diagram of an embodiment of the present utility model; Figure 3 for Figure 2 A partial structural diagram at point A in the middle; Figure 4 for Figure 2 A schematic diagram of the partial structure at point B in the middle; Figure 5 for Figure 2 A schematic diagram of the partial structure at point C in the middle; Figure 6 for Figure 2 A schematic diagram of the partial structure at point D; Figure 7 This is an exploded view of the nailer shaft in an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal structure of the first and second housings in an embodiment of this utility model.

[0016] Legend: 1. Pedicle screw; 2. Screw mount assembly; 3. Spindle; 4. Kirschner wire; 5. Connecting channel; 6. Screw mount shaft; 7. Connector; 8. Screw clamp; 9. Limiting shaft; 10. First housing; 11. Second housing; 12. Kirschner wire connecting mechanism; 13. Motor; 14. Connecting shaft; 15. Snap-fit ​​groove; 16. Limiting sleeve; 17. Electric cylinder; 18. Drive cavity; 19. Rotor; 20. Stator; 21. Cable cavity; 22. Cable connector; 23. Cable isolation sleeve; 24. Bearing; 25. Quick-release mechanism; 26. Threaded section; 27. Anti-loosening knob; 28. Patient protection sleeve; 29. ​​Locking screw sleeve; 30. Return spring; 31. Guide rail; 32. Divider plate; 33. Seal; 34. Encoder; 35. Quick-release sleeve; 36. Limiting nut; 37. Robotic arm connector. Detailed Implementation

[0017] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] In this document, terms such as “up,” “down,” “left,” “right,” and “top” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] like Figures 1 to 8 As shown, a minimally invasive spinal surgery screw placement device includes a screw placement assembly 2 detachably connected to a pedicle screw 1. The screw placement assembly 2 is installed at the end of a main shaft 3. The rotation of the main shaft 3 drives the screw placement assembly 2 and the pedicle screw 1 to rotate and place the screw. The main shaft 3 is provided with a connecting channel 5 for inserting Kirschner wires 4. The Kirschner wires 4 pass through the screw placement assembly 2 and the pedicle screw 1 so that the pedicle screw 1 can be extended to fix the surgical site.

[0020] In this application, the rotation of the main shaft 3 drives the screw-inserting assembly 2 and the pedicle screw 1 to rotate to the planned depth. Then, the Kirschner wire 4 moves out of the connecting channel 5 and enters the planned position in the patient's bone to fix the surgical site. The main shaft 3 then drives the pedicle screw 1 to rotate, thus implanting the pedicle screw 1 into the patient's bone. After that, the Kirschner wire 4 moves in the opposite direction to withdraw from the patient's bone. The screw-inserting assembly 2 is then removed to withdraw the screw-inserting device, completing the implantation of the pedicle screw 1. The above setup reduces the workload of doctors, effectively improves the screw placement efficiency, and avoids the surgical risks caused by the slippage of the Kirschner wire 4 due to manual operation.

[0021] The spinal minimally invasive surgery screw placement device of this embodiment also includes a first drive assembly for driving the main shaft 3 to rotate, and a second drive assembly for driving the Kirschner wire 4 to rotate and extend. The second drive assembly drives the Kirschner wire 4 to extend out of the pedicle screw 1 to fix the surgical site, so that the first drive assembly can drive the pedicle screw 1 to rotate to achieve screw placement.

[0022] The drive structures for the main spindle 3 and the Kirschner wire 4 are separately configured to facilitate the alternating movement of the pedicle screw 1 and the Kirschner wire 4, improving the flexibility and accuracy of the screw placement operation. A second drive assembly is configured to rotate the Kirschner wire 4 while extending the pedicle screw 1, facilitating the entry of the Kirschner wire 4 into the patient's bone for fixation at the surgical site. Due to its threaded structure, the pedicle screw 1 can be drilled into the bone through rotation.

[0023] In the minimally invasive spinal surgery screw placement device of this embodiment, the screw placement assembly 2 includes a screw placement shaft 6. One end of the screw placement shaft 6 is inserted into the main shaft 3 so that it can be rotated by the main shaft 3. The other end is provided with a connector 7 for inserting the pedicle screw 1. The connector 7 is fitted with a limiting mechanism for locking the pedicle screw 1.

[0024] Specifically, the screw-insertion shaft 6 is hollow inside, allowing the Kirschner wire 4 to pass through the screw-insertion shaft 6 and extend into the pedicle screw 1. The top of the screw-insertion shaft 6 has a polygonal structure, and the bottom of the corresponding main shaft 3 has a groove with a polygonal inner surface. Through the above structure, the screw-insertion shaft 6 can be inserted into the main shaft 3 or can be driven to rotate, thereby driving the pedicle screw 1 connected through the connector 7 and the limiting mechanism to rotate, so as to drill into the patient's bone to place the screw.

[0025] Preferably, the connecting channel 5 is a hollow shaft that matches the diameter of the Kirschner wire 4. The connecting channel 5 is inserted into the main shaft 3 from below. A limiting step is provided on the inner side of the bottom of the main shaft 3. The upper stapler shaft 6 presses the connecting channel 5 against the limiting step from below. The above structure allows the connecting channel 5 to be quickly disassembled, which is conducive to cleaning and sterilization and reduces the sterilization risk.

[0026] In the minimally invasive spinal surgery screw placement device of this embodiment, the limiting mechanism includes a screw clamp 8 fixed to the end of the screw holder shaft 6. The screw clamp 8 is provided with a plurality of clamp buckles distributed circumferentially along the connector 7. A limiting shaft 9 is sleeved on the outside of the screw clamp 8. The limiting shaft 9 moves axially along the screw holder shaft 6 to push the plurality of clamp buckles to gather together to clamp and fix the pedicle screw 1.

[0027] The connector 7 is shaped like a plum blossom. The head of the pedicle screw 1 is provided with a groove that matches the plum blossom shape. One end of the clamp is connected to the surface of the screwdriver shaft 6, and the other end is raised and has a certain elasticity. After the connector 7 is inserted into the pedicle screw 1, it drives the limiting shaft 9 to move to the end of the screwdriver shaft 6. The end of the limiting shaft 9 pushes the raised end of the clamp to retract inward and fasten to the outside of the pedicle screw 1, thereby achieving clamp fixation of the pedicle screw 1 and playing a centering role to ensure that the pedicle screw 1 is coaxial with the screwdriver shaft 6 and improve the accuracy of screw placement.

[0028] Specifically, the surface of the screwdriver shaft 6 is provided with a threaded section 26, and the bottom end of the threaded section 26 is provided with a limit ring. The inner surface of the top end of the corresponding limit shaft 9 is provided with an internal thread. The axial movement outside the screwdriver shaft 6 is achieved by rotating the limit shaft 9 through the threaded engagement. In order to improve the limiting effect of the limit shaft 9 on the pedicle screw 1, the outer periphery of the threaded section 26 is also threaded with an anti-loosening knob 27. The anti-loosening knob 27 abuts against the end of the limit shaft 9 to achieve anti-loosening.

[0029] Preferably, a patient protective sleeve 28 is provided around the limiting shaft 9. The patient protective sleeve 28 protects the patient from being injured by the high-speed rotating stapler shaft 6. The bottom end of the limiting shaft 9 is provided with a stepped structure for limiting the patient protective sleeve 28 to prevent the patient protective sleeve 28 from detaching from the stapler assembly 2. A locking sleeve 29 is provided around the top end of the limiting shaft 9. The bottom end of the locking sleeve 29 abuts against the patient protective sleeve 28 to achieve limiting, and its top end abuts against the anti-loosening knob 27.

[0030] In a further preferred embodiment, holes for inserting limit pins are provided on the locking sleeve 29 and the limiting shaft 9 respectively. Through the above-mentioned limiting pin structure, it is easy to rotate the locking sleeve 29 to drive the limiting shaft 9 to rotate synchronously, thereby realizing the axial movement of the limiting shaft 9 through the threaded engagement with the threaded section 26.

[0031] The above-mentioned screw anti-loosening and centering design can prevent screws from falling out due to high-speed rotation or from deviating from the planned path during the screw placement process.

[0032] The spinal minimally invasive surgery nail placement device of this embodiment also includes a first housing 10 for mounting a first drive component and connecting a robotic arm. A second housing 11 for mounting a second drive component is disposed above the first housing 10. The output end of the second drive component is connected to a Kirschner wire connection mechanism 12 that extends to the outside of the second housing 11 for mounting Kirschner wires 4.

[0033] Specifically, the side of the first housing 10 is provided with a robotic arm connector 37 for connecting the robotic arm. The Kirschner wire 4 is installed at the bottom end of the Kirschner wire connecting mechanism 12. The main shaft 3 is located inside the first housing 10. The Kirschner wire 4 extends downward from the Kirschner wire connecting mechanism 12 and passes through the first housing 10, the screw-inserting assembly 2, and the pedicle screw 1 in sequence. The first drive assembly inside the first housing 10 drives the main shaft 3 to rotate and drives the screw-inserting assembly 2 and the pedicle screw 1 to rotate, so that the pedicle screw 1 can be drilled into the patient's bone to achieve screw placement.

[0034] In the spinal minimally invasive surgery screw placement device of this embodiment, the second drive component includes a motor 13, and the Kirschner wire connection mechanism 12 includes a connecting shaft 14. The top end of the connecting shaft 14 is provided with an interface for connecting the output shaft of the motor 13, and the bottom end of the connecting shaft 14 is provided with a locking groove 15 for locking the end of the Kirschner wire 4. A limiting sleeve 16 is slidably sleeved on the outside of the connecting shaft 14. The limiting sleeve 16 slides to the outside of the locking groove 15 to limit the Kirschner wire 4 in the locking groove 15.

[0035] With the above configuration, slide the limiting sleeve 16 upward to expose the snap-fit ​​groove 15 at the bottom of the connecting shaft 14, then snap the end of the Kirschner wire 4 into the snap-fit ​​groove 15, and then slide the limiting sleeve 16 downward to block the snap-fit ​​groove 15 to limit and fix the Kirschner wire 4, so that the motor 13 can drive the Kirschner wire 4 to rotate stably through the connecting shaft 14.

[0036] Specifically, in accordance with the T-shaped structure of the Kirschner wire 4 end, the snap-fit ​​groove 15 includes a hole that mates with the horizontal part of the end and passes through the connecting shaft 14, and a groove that mates with the vertical part of the end and is opened on one side of the connecting shaft 14, and the axis of the groove is collinear with the axis of the connecting shaft 14. The above arrangement ensures the fixing effect of the Kirschner wire 4.

[0037] Preferably, in order to facilitate the reset of the limiting sleeve 16, a reset spring 30 is provided on the bottom periphery of the connecting shaft 14. The upper and lower ends of the reset spring 30 abut against the limiting step on the connecting shaft 14 and the limiting step inside the limiting sleeve 16, respectively. With the above arrangement, after the limiting sleeve 16 is slid upward and the Kirschner wire 4 is inserted into the locking groove 15, the limiting sleeve 16 can automatically slide downward under the action of the reset spring 30 to limit the Kirschner wire 4. In order to prevent the limiting sleeve 16 from slipping off, a limiting ring is provided at the bottom end of the connecting shaft 16 to limit the limiting sleeve 16.

[0038] In the spinal minimally invasive surgery nail placement device of this embodiment, the second drive component also includes an electric cylinder 17 arranged parallel to the connecting shaft 14. The telescopic end of the electric cylinder 17 is fixedly connected to the motor 13, thereby driving the Kirschner wire 4, which rotates synchronously with the connecting shaft 14, to extend or retract within the connecting channel 5.

[0039] With the above configuration, while the motor 13 drives the Kirschner wire 4 to rotate, the electric cylinder 17 can extend or shorten to drive the Kirschner wire 4 to move, thereby enabling the Kirschner wire 4 to be inserted into the bone for fixation, or to be withdrawn after placement.

[0040] To ensure the stability of the sliding motion of the motor 13 driven by the electric cylinder 17, a guide rail 31 is provided inside the second housing 11. The motor 13 is connected to the output end of the electric cylinder 17 through a connecting plate, and a slider that is slidably connected to the guide rail 31 is provided on one side of the connecting plate.

[0041] Preferably, a position sensor can be installed on the electric cylinder 17 to monitor the implantation depth of the Kirschner wire 4 in real time to ensure surgical safety; a force sensor can also be installed on the electric cylinder 17 to monitor whether the Kirschner wire 4 penetrates the bone surface, further ensuring surgical safety.

[0042] In the spinal minimally invasive surgery screw placement device of this embodiment, the first housing 10 is provided with a drive cavity 18 for installing the first drive assembly. The first drive assembly includes a rotor 19 sleeved around the main shaft 3 and a stator 20 sleeved around the rotor 19. The stator 20 drives the rotor 19 and the main shaft 3 to rotate within the first housing 10, thereby driving the pedicle screw 1 to rotate.

[0043] Specifically, a partition plate 32 is provided inside the first housing 10. The drive cavity 18 is between the partition plate 32 and the bottom surface of the first housing 10. The main shaft 3 passes through the partition plate 32 and is rotatably connected to the partition plate 32 through a bearing 24. The main shaft 3 is also rotatably connected to the bottom shell plate of the first housing 10 through a bearing 24. A sealing element 33 is also provided between the main shaft 3 and the upper and lower shell plates of the first housing 10.

[0044] The rotor 19 is fixedly connected to the main shaft 3. After the stator 20 starts, it drives the rotor 19 to rotate, which in turn drives the main shaft 3 to rotate outside the Kirschner wire 4. At the same time, the screw-inserting assembly 2 and the pedicle screw 1 connected to the main shaft 3 rotate to place the screws. The specific structure of the stator 20 and the rotor 19 can adopt existing technology, and their working principle and specific settings will not be described in detail here.

[0045] In the spinal minimally invasive surgery nail placement device of this embodiment, a cable cavity 21 is also provided inside the first housing 10. A cable connector 22 for connecting cables is provided on the first housing 10. A cable isolation sleeve 23 sleeved around the main shaft 3 is installed inside the cable cavity 21. The cable cavity 21 is connected to the drive cavity 18 to facilitate cable routing and connection to the first drive component.

[0046] The space between the partition plate 32 and the upper shell plate of the first housing 10 is a cable cavity 21. External cables are connected through cable connectors 22 and enter the drive cavity 18 through the notch provided on the partition plate 32 to provide power to the first drive assembly. The cable isolation sleeve 23 isolates the cable and the spindle 3 to avoid interference and prevent the cable from being damaged by the high-speed rotating spindle 3.

[0047] Specifically, the upper surface of the partition plate 32 is provided with an installation groove, and an encoder 34 is installed in the installation groove. The encoder 34 is installed on the periphery of the main shaft 3. By setting the encoder 34 to detect the rotation of the main shaft 3, it is easier to control the drilling depth of the pedicle screw 1 to meet the surgical requirements and improve the accuracy of screw placement.

[0048] In the spinal minimally invasive surgery nail placement device of this embodiment, the main shaft 3 extends to the outside of the first housing 10 and is rotatably connected to the first housing 10 through the bearing 24. The end of the main shaft 3 is provided with a quick-release mechanism 25 for connecting the nailer assembly 2. The nailer assembly 2 is detachably connected to the main shaft 3 through the quick-release mechanism 25.

[0049] The main shaft 3 is set to extend to the outside of the first housing 10 to facilitate the connection of the nailer assembly 2. Specifically, the quick-release mechanism 25 can adopt the structure in the prior art. The quick-release mechanism 25 is set to facilitate the disassembly of the nailer assembly 2 for replacement or cleaning.

[0050] Specifically, the quick-release mechanism 25 includes a quick-release sleeve 35 sleeved on the part of the main shaft 3 extending to the outside of the first housing 10, and a limiting nut 36 threaded to the end of the main shaft 3. A protrusion is provided in the middle of the inner wall of the quick-release sleeve 35. A spring is provided between the lower surface of the protrusion and the limiting nut 36. The spring is sleeved on the periphery of the main shaft 3. The upper surface of the protrusion is inclined. A limiting hole is opened on the main shaft 3. A limiting groove is opened on the surface of the corresponding nailer shaft 6. The limiting hole and the limiting groove form a limiting part that accommodates a limiting steel ball. The steel ball enters the limiting part and is blocked by the side of the protrusion. The main shaft 3 and the nailer shaft 6 are limited by the steel ball. When the quick-release sleeve 35 is slid downward, the steel ball moves along the inclined surface of the upper side of the protrusion and disengages from the limiting part, releasing the limitation on the main shaft 3 and the nailer shaft 6, which facilitates quick assembly and disassembly of the nailer shaft 6.

[0051] Preferably, the stapler assembly 2 can be replaced with other tools, such as an automatic retractor or other surgical instruments that require drive, thereby adapting to the needs of different surgeries and expanding the scope of application of this application.

[0052] On the other hand, this application also proposes a screw placement system, including the screw placement device for minimally invasive spinal surgery described in any one of the above claims, wherein the screw placement system further includes: The main control carriage includes an industrial computer, a display, and an optical camera. The main control carriage includes a robotic arm, which is the execution end of the orthopedic robot. The end of the robotic arm is provided with a connection end for connecting the pin placement device. The connection end is connected to the robotic arm connector 37 on the first housing 10. An optical marking module is installed on the connection end, which is used to identify the posture of the robotic arm.

[0053] The aforementioned main control carriage, main unit carriage, and optical marking module can adopt existing technologies, and their specific structural settings and working principles will not be elaborated here.

[0054] When using this device according to the above settings: In the preoperative preparation stage, the pedicle screw 1 is first installed on the screw mount shaft 6 through the connector 7 and screw clamp 8. Then, the locking sleeve 29 is rotated to lock the pedicle screw 1. The anti-loosening knob 27 is rotated until it presses against the locking sleeve 29 to prevent the locking sleeve 29 from loosening. Then, the screw mount assembly 2 is assembled into the quick-release mechanism 25. After inserting the Kirschner wire 4 end into the Kirschner wire channel, insert the Kirschner wire 4 end into the T-shaped opening on the connecting shaft 14; finally, assemble the entire assembly onto the robotic arm of the orthopedic robot to complete the preoperative preparation.

[0055] During the surgery: After the robotic arm moves the entire device to the planned position, the main shaft 3 drives the screw-inserting assembly 2 to rotate in the opposite direction at high speed to reach the planned depth. Then, while the rotary motor 13 drives the Kirschner wire 4 to rotate, the electric cylinder 17 pushes the Kirschner wire 4 into the planned position in the patient's bone. The main shaft 3 then rotates at low speed to implant the pedicle screw 1 into the patient's bone. The electric cylinder 17 pushes the Kirschner wire 4 out of the patient's bone. Then, the anti-loosening knob 27 and locking sleeve 29 on the screw-inserting assembly 2 are rotated in the opposite direction to remove the entire mechanism, leaving the pedicle screw 1 in the patient's bone, thus completing the implantation of the pedicle screw 1.

[0056] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "rotation", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0057] Although embodiments of the present invention have been shown and described in detail, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A minimally invasive spinal surgery screw placement device, characterized in that, The device includes a screw-insertion assembly detachably connected to the pedicle screw. The screw-insertion assembly is mounted at the end of a spindle. The rotation of the spindle causes the screw-insertion assembly and the pedicle screw to rotate to place the screw. The spindle has a connecting channel for inserting Kirschner wires. The Kirschner wires pass through the screw-insertion assembly and the pedicle screws to facilitate the extension of the pedicle screws to fix the surgical site.

2. The spinal minimally invasive surgery screw placement device according to claim 1, characterized in that, It also includes a first drive assembly for driving the spindle to rotate, and a second drive assembly for driving the Kirschner wire to rotate and extend. The second drive assembly drives the Kirschner wire to extend and the pedicle screw to fix the surgical site, so that the first drive assembly can drive the pedicle screw to rotate to achieve screw placement.

3. The spinal minimally invasive surgery screw placement device according to claim 1, characterized in that, The screw inserter assembly includes a screw inserter shaft, one end of which is inserted into the main shaft so that it can be rotated by the main shaft, and the other end is provided with a connector for inserting pedicle screws. The connector is fitted with a limiting mechanism for locking the pedicle screws.

4. The spinal minimally invasive surgery screw placement device according to claim 3, characterized in that, The limiting mechanism includes a screw clamp fixed to the end of the screw feeder shaft. The screw clamp is provided with multiple clamp buckles distributed circumferentially along the connector. A limiting shaft is sleeved on the outside of the screw clamp. The limiting shaft moves axially along the screw feeder shaft to push the multiple clamp buckles together to clamp and fix the pedicle screw.

5. A spinal minimally invasive surgery screw placement device according to claim 2, characterized in that, It also includes a first housing for mounting a first drive assembly and connecting a robotic arm, a second housing for mounting a second drive assembly is provided above the first housing, and the output end of the second drive assembly is connected to a Kirschner wire connecting mechanism extending to the outside of the second housing for mounting Kirschner wires.

6. A spinal minimally invasive surgery screw placement device according to claim 5, characterized in that, The second drive assembly includes a motor, and the Kirschner wire connection mechanism includes a connecting shaft. The top end of the connecting shaft is provided with an interface for connecting the output shaft of the motor, and the bottom end of the connecting shaft is provided with a locking groove for locking the end of the Kirschner wire. A limiting sleeve is provided on the outside of the connecting shaft, and the limiting sleeve slides to the outside of the locking groove to limit the Kirschner wire in the locking groove.

7. A spinal minimally invasive surgery screw placement device according to claim 6, characterized in that, The second drive assembly also includes an electric cylinder arranged parallel to the connecting shaft. The telescopic end of the electric cylinder is fixedly connected to the motor, thereby driving the Kirschner wires that rotate synchronously with the connecting shaft to extend or retract within the connecting channel.

8. A spinal minimally invasive surgery screw placement device according to claim 5, characterized in that, The first housing is provided with a drive cavity for installing the first drive assembly. The first drive assembly includes a rotor sleeved around the main shaft and a stator sleeved around the rotor. The stator drives the rotor and the main shaft to rotate within the first housing, thereby causing the pedicle screw to rotate.

9. A spinal minimally invasive surgery screw placement device according to claim 8, characterized in that, The first housing is further provided with a cable cavity, and a cable connector for connecting cables is provided on the first housing. A cable isolation sleeve is installed in the cable cavity and sleeved around the spindle. The cable cavity is connected to the drive cavity to facilitate cable routing and connection to the first drive assembly. The spindle extends to the outside of the first housing and is rotatably connected to the first housing through a bearing. The end of the spindle is provided with a quick-release mechanism for connecting the nailer assembly. The nailer assembly is detachably connected to the spindle through the quick-release mechanism.

10. A pin placement system, characterized in that, The spinal minimally invasive surgery screw placement device according to any one of claims 1-9, wherein the screw placement system further comprises: The main control carriage includes an industrial computer, a display, and an optical camera. The main control carriage includes a robotic arm. The end of the robotic arm is provided with a connection end for connecting to the pin placement device. An optical marking module is installed on the connection end for identifying the position and posture of the robotic arm.

Images