Automatic screw embedding system

Abstract

To provide an automatic screw implanting system which not only simplifies the steps of a screw implanting operation but also improves the efficiency and accuracy of the screw implanting operation.SOLUTION: The present invention discloses an automatic screw embedding system. The automatic screw implantation system comprises an automatic screw implantation device. The automatic screw insertion device comprises a power transmission component, a guide needle and a motor element. The power transmission component is used for mounting a hollow pedicle screw. The guiding needle penetrates the hollow pedicle screw and is coaxially arranged with the hollow pedicle screw. The motor element is connected to the power transmission component and the needle. The motor element drives the needle to advance and rotate at a first rotation speed and a first torque. The motor element drives the power transmission component to rotate the hollow pedicle screw at a second rotation speed less than the first rotation speed and a second torque greater than the first torque.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to a screw implantation system, and particularly to an automatic screw implantation system. [[Background Art]]

[0002] Pedicle fixation surgery is a common procedure for the treatment of low back pain. In the procedure, a small incision is made in the skin surface, a pilot hole is created using an instrument such as a trocar or a bone drill, a guide wire is inserted, and a hollow pedicle screw is screwed into the spine along the guide wire, thereby completing the implantation and fixation of the pedicle screw. [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0003] However, conventional pedicle screw implantation methods require extremely complicated surgical steps and instrument replacement. In addition, when placing the guide wire through the pilot hole, position deviation is prone to occur, and the final implantation position may differ from the preoperatively planned position.

[0004] Therefore, how to improve the structural design to overcome the above drawbacks has become one of the important issues in this technical field. [[Means for Solving the Problem]]

[0005] In response to the drawbacks of the prior art, the present invention provides an automatic screw implantation system, which solves the technical problem that conventional pedicle screw implantation methods require complicated surgical steps and instrument replacement, which affects the efficiency and accuracy of screw implantation.

[0006] To solve the aforementioned technical problems, one of the technical means employed in the present invention is to provide an automatic screw implantation system. The automatic screw implantation system comprises a screw implantation device. The automatic screw implantation device comprises a power transmission component, a guide needle, and a motor element. The power transmission component is used to implant a hollow pedicle screw. The guide needle penetrates the hollow pedicle screw and is positioned coaxially with the hollow pedicle screw. The motor element is power-connected to the power transmission component and the guide needle. The motor element drives the guide needle forward and simultaneously rotates it at a first rotational speed and a first torque. The motor element drives the power transmission component to screw the hollow pedicle screw into the pilot hole at a second rotational speed less than the first rotational speed and a second torque greater than the first torque.

[0007] One of the beneficial effects of the present invention is that the automated screw implantation system according to the present invention uses a motor element to drive a guide needle to drill a pilot hole at high rotational speed and low torque, and then uses the motor element to drive a power transmission component to control the hollow pedicle screw and screw it into the pilot hole at low rotational speed and high torque. Therefore, by combining the drilling step and the screw screwing step, the automated screw implantation system according to the present invention can complete the screw implantation surgery without the need to change instruments. This not only simplifies the steps of the screw implantation surgery but also improves the efficiency and accuracy of the screw implantation surgery.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the invention, however, the drawings provided are for reference and illustrative purposes only and are not intended to limit the invention. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of an automatic screw embedding system according to an embodiment of the present invention. [Figure 2] This is a functional block diagram of an automatic screw embedding system according to an embodiment of the present invention. [Figure 3] This is a schematic diagram of a screw embedding device according to an embodiment of the present invention. [Figure 4] This is a partially enlarged schematic diagram of a screw embedding device according to an embodiment of the present invention. [Figure 5] This is a schematic diagram showing the guide needle and hollow pedicle screw according to an embodiment of the present invention in the midst of the drilling process. [Figure 6] This is a schematic diagram showing the guide needle and hollow pedicle screw according to an embodiment of the present invention in the process of screwing them in. [Figure 7] This is a schematic diagram of steps S1 to S9 in the operating method of the automatic screw embedding system according to the present invention. [Figure 8] This is a schematic diagram of steps S11 to S13 in the operating method of the automatic screw embedding system according to the present invention. [Modes for carrying out the invention]

[0010] As shown in Figures 1 and 2, an embodiment of the present invention provides an automatic screw embedding system D. The automatic screw embedding system D comprises a screw embedding device 1, a mechanical device 2, and a processing device 3. The mechanical device 2 is connected to the screw embedding device 1. The processing device 3 is electrically connected to the mechanical device 2 and controls the operation of the mechanical device 2.

[0011] For example, the mechanical device 2 may be a robotic arm capable of multi-degree-of-freedom movement. The mechanical device 2 can grip surgical instruments, such as the screw implantation device 1 of the present invention, via an adapter. For example, the processing device 3 may include a processor and memory, but the present invention is not limited thereto. The processor may be, but is not limited thereto, a programmable logic controller circuit, a microprocessor circuit, a microcontroller circuit, or a central processing unit, etc. The memory may be, but is not limited thereto, a random access memory (RAM), a read-only memory (ROM), flash memory, a hard disk, or other storage device capable of storing data, etc.

[0012] The screw embedding device 1 comprises a motor element 11, a power transmission component 12, and a guide needle 13. The processing device 3 is electrically connected to the screw embedding device 1 and controls the motor element 11. The power transmission component 12 is connected between the motor element 11 and the guide needle 13, and the power transmission component 12 and the guide needle 13 are power-connected to the motor element 11.

[0013] The following will be explained with reference to Figures 3 and 4. For example, the power transmission component 12 may include a coupling 121 and a link component connected to the coupling 121. The link component includes a coaxial first rod 122 and a second rod 123. The first rod 122 is fitted to the outside of the second rod 123, and the first rod 122 and the second rod 123 can operate independently of each other. The coupling 121 is connected to a motor element 11. The motor element 11 transmits power to the first rod 122 and the second rod 123 via the coupling 121. One end of the second rod 123 is connected to the coupling 121, and the other end is connected to a guide needle 13. The guide needle 13 is also called a puncture needle or K-pin. Also, as shown in Figure 5, the power transmission component 12 is used to insert a hollow pedicle screw T. The guide needle 13 penetrates the hollow pedicle screw T and is positioned coaxially with the hollow pedicle screw T. Furthermore, the guide needle 13 and the hollow pedicle screw T are separated from each other and do not interfere with one another.

[0014] As shown in Figures 4 and 5, the first rod 122 is provided with a first connecting portion 1221 and two second connecting portions 1222 at both ends. The coupling 121 is provided with a connecting portion 1211. The coupling 121 is connected to the first connecting portion 1221 of the first rod 122 via the connecting portion 1211. A U-shaped structure is provided at one end of the hollow pedicle screw T. After being passed through the guide needle 13, the hollow pedicle screw T is further connected to the two second connecting portions 1222 of the first rod 122 via two ear portions T1 of the U-shaped structure, thereby fixing it to the screw implantation device 1. For example, the U-shaped structure of the hollow pedicle screw T and the second connecting portions 1222 of the first rod 122 may be connected by snaps, mortise and tenon joints or fasteners, but the present invention is not limited thereto.

[0015] The explanation will continue with reference to Figures 1 and 2. The automated screw implantation system D may further include a surgical navigation module 4. The surgical navigation module 4 includes a plurality of navigation marker elements 41 and an optical tracker 42. Each of the plurality of navigation marker elements 41 is positioned near the mechanical device 2, the screw implantation device 1, and the target location (i.e., the planned surgical site P). Each navigation marker element 41 includes a dynamic reference frame (DRF) and a plurality of optical elements provided on the dynamic reference frame. The optical elements may be, for example, reflective spheres or marker elements that emit a perceptible signal. The optical tracker 42 is electrically connected to the processing device 3. The plurality of navigation marker elements 41 may also serve as spatial positioning marker points for establishing a spatial coordinate system. The optical tracker 42 can sense, detect, and record the coordinate positions of the plurality of optical elements in the navigation marker element 41 and transmit this information to the processing device 3 for appropriate calculation and / or storage.

[0016] The automated screw implantation system D further includes a display device 5 electrically connected to the processing device 3. For example, the display device 5 may include a screen and a buzzer (not shown). The processing device 3 acquires images of the vicinity of the planned surgical site P by the surgical navigation module 4 and constructs a three-dimensional virtual model of the vicinity of the planned surgical site P by combining it with previously acquired medical images, such as computed tomography (CT) or magnetic resonance imaging (MRI). The constructed three-dimensional virtual model may be displayed on the navigation interface of the display device 5.

[0017] The explanation will be given with reference to Figures 7 and 8. The operation method of the automatic screw embedding system D according to the present invention includes at least the following steps.

[0018] Step S1: Operate the screw implantation device to move it to a position above the surgical incision.

[0019] Step S3: operating the screw embedding device to move it along the axial direction, and advancing the screw embedding device into the surgical incision so that the needle tip of the guide needle contacts the planned surgical site.

[0020] Step S5: driving the guide needle to advance by the motor element and simultaneously rotate at a first rotation speed and a first torque, so as to screw the guide needle into the planned surgical site and form a pilot hole.

[0021] Step S7: driving the power transmission component by the motor element to screw the hollow pedicle screw into the pilot hole at a second rotation speed smaller than the first rotation speed and a second torque larger than the first torque.

[0022] Step S9: disconnecting the power transmission component from the hollow pedicle screw, and operating the screw embedding device to take it out of the surgical incision.

[0023] Furthermore, in the operating method for the automatic screw embedding system D according to the present invention, when operating the screw embedding device (steps S1 and S3), the mechanical device 2 may be operated to perform the following steps.

[0024] Step S11: moving the screw embedding device to a position above the surgical incision based on the planned surgical path.

[0025] Step S12: correcting the posture of the screw embedding device based on the planned surgical path, wherein the posture includes the position and angle of the screw embedding device.

[0026] Step S13: moving the screw embedding device to the planned surgical site based on the surgical path.

[0027] Next, the processes of steps S1 to S7 and steps S11 to S13 will be described in detail. As shown in Figures 1, 5, and 6, when the person undergoing surgery (i.e., patient B) lies face down on the operating table and the medical staff prepares for the surgery, the processing unit 3 plans the planned surgical path in advance based on this spatial coordinate system and the constructed three-dimensional virtual model, and further controls the mechanical device 2 to correct the posture of the screw implantation device 1 based on this planned surgical path. The posture of the screw implantation device 1 is, for example, the position and angle of the screw implantation device 1 with respect to the planned surgical site P (e.g., the pedicle area of ​​the spine). Next, after the medical staff opens the surgical incision S with a surgical knife, the processing unit 3 controls the mechanical device 2 based on the planned surgical path so that the mechanical device 2 moves the screw implantation device 1 above the surgical incision S. After the position is determined, the mechanical device 2 fixes the axial direction of the screw implantation device 1. Next, based on the planned surgical path, the processing unit 3 controls the mechanical device 2 to move the screw implantation device 1 downward to the planned surgical site P. A medical professional may manually grasp the machine device 2 and perform surgery on the planned surgical site P. Alternatively, the machine device 2 may be controlled by the processing device 3 to automatically perform surgery on the planned surgical site P.

[0028] The screw implantation device 1 is operated to move along this axial direction (i.e., the axial direction of the link component) and enter the surgical incision S so that the tip 131 of the guide needle 13 contacts the planned surgical site P. Next, the processing device 3 controls the motor element 11 in the screw implantation device 1 and supplies power to drive the power transmission component 12, causing the guide needle 13 to rotate at high speed. At the same time, the motor element 11 is also controlled to transmit power to the second rod 123 via the coupling 121, so that the second rod 123 drives the guide needle 13 forward toward the planned surgical site P, screwing it into the planned surgical site P along the first rotational direction and forming a pilot hole H (see Figure 5). More specifically, the guide needle 13 rotates at a first rotational speed and a first torque. Preferably, the first rotational speed is greater than 10,000 rpm and the first torque is less than 0.5 Nm.

[0029] While the guide needle 13 is screwed into the planned surgical site P and forming a pilot hole H, the first rod 122 does not move with the guide needle 13. More precisely, while the guide needle 13 is drilling, the hollow pedicle screw T is fitted to the outside of the guide needle 13 and remains stationary. Meanwhile, after the pilot hole H is formed, the processing device 3 continues to operate the screw implantation device 1 so that the motor element 11 transmits power to the first rod 122 via the coupling 121, driving the first rod 122 to move toward the pilot hole H. At the same time, the hollow pedicle screw T, fixed to the first rod 122, is screwed into the pilot hole H along the second rotational direction at a low rotational speed (see Figure 6). More specifically, the hollow pedicle screw T rotates at the second rotational speed and second torque. Preferably, the second rotational speed is less than 300 rpm and the second torque is greater than 5 Nm.

[0030] Specifically, the guide needle 13 first forms a pilot hole H at a high rotational speed and low torque, and then the hollow pedicle screw T is screwed into the pilot hole H at a low rotational speed and high torque. Furthermore, the first rotational direction and the second rotational direction are opposite; for example, the first rotational direction is clockwise and the second rotational direction is counterclockwise. In this way, the screw implantation device 1 according to the present invention can simultaneously satisfy the needs of forming a pilot hole H and screwing in a hollow pedicle screw T by outputting different torques and rotational speeds in the forward and reverse directions.

[0031] Furthermore, during the process of screwing the hollow pedicle screw T into the pilot hole H, the guide needle 13 and the hollow pedicle screw T are separated from each other and do not interfere with each other, so the guide needle 13 is initially in a state where its advancement is stopped. Judging from the relative positional relationship between the guide needle 13 and the hollow pedicle screw T, as the hollow pedicle screw T is gradually screwed into the pilot hole H, the guide needle 13 is withdrawn from the pilot hole H simultaneously with the hollow pedicle screw T. That is, the guide needle 13 moves in the opposite direction to the advancement direction of the hollow pedicle screw T. After the hollow pedicle screw T is screwed into the pilot hole H and fixed in place, the connection between the power transmission component 12 and the hollow pedicle screw T is released, the hollow pedicle screw T is detached from the first rod 122, and the processing device 3 operates the screw implantation device 1 to remove it outside the surgical incision S.

[0032] By repeating steps S1 to S9, multiple hollow pedicle screws T can be fixed to the pedicle area. Furthermore, after the hollow pedicle screws T penetrate the pedicle, the tips of the hollow pedicle screws T are fixed inside the vertebral body, and the posterior end (U-shaped structure) of the hollow pedicle screws T is exposed and connected to a steel bar (not shown). Thus, multiple hollow pedicle screws T are connected to the steel bar, achieving the effect of fixing the spine.

[0033] Therefore, the screw implantation device 1 according to the present invention can quickly screw in the pilot hole H the moment the tip 131 of the guide needle 13 contacts the bone surface by rotating the guide needle 13 at high speed (10,000 rpm or more), so that slippage and displacement do not occur, and the position of the pilot hole H is formed more accurately. On the other hand, the present invention has a structural design in which the hollow pedicle screw T and the guide needle 13 are separated from each other, so that the hollow pedicle screw T covers the guide needle 13 and remains stationary, thereby preventing the guide needle 13 from contacting and damaging other parts of the patient's body (non-surgical parts) during high-speed rotation.

[0034] Furthermore, since the present invention can satisfy the needs of forming a pilot hole H and screwing in a hollow pedicle screw T using the same instrument (i.e., screw implantation device 1), there is no need to change instruments during the process of forming the pilot hole H and screwing in the screw, and an additional implementation step can be omitted. Moreover, the screw implantation device 1 according to the present invention, due to the structural design of the power transmission component 12 (first rod 122 and second rod 123), allows the guide needle 13 to move forward and backward when the motor element 11 is rotated in different rotational directions. Therefore, the guide needle 13 can be retracted within the hollow pedicle screw T when screwing in the pedicle screw T, ensuring that the spine is not damaged.

[0035] As shown in Figure 2, the screw embedding device 1 further includes a torque sensor 14 and a motor encoder 15, which are coupled to the motor element 11. The torque sensor 14, also called a torque meter, measures the torque of the motor element 11. The torque sensor 14 may be a strain gauge type torque sensor, a capacitive type torque sensor, or a piezoelectric type torque sensor, but the present invention is not limited to these. The motor encoder 15 measures the rotational speed of the motor element 11. The torque sensor 14 and the motor encoder 15 are electrically connected to the processing unit 3. The processing unit 3 can monitor the operation of the screw embedding device 1 by reading the rotational speed value and torque value of the motor element 11.

[0036] If the processing unit 3 detects a change in the rotational speed and torque values ​​of the motor element 11, the processing unit 3 immediately controls the screw implantation device 1 to stop the operation of the motor element 11, thereby preventing fracture. Furthermore, if the processing unit 3 detects that the mechanical device 2 has deviated from the planned surgical path due to external force, the processing unit 3 presents a warning signal to the medical professional via the display device 5, either visually or audibly (for example, by flashing a part of the screen red, or by sounding a specific buzzer). In other words, the automated screw implantation system D according to the present invention can detect misalignment of the screw implantation device 1 in real time and alert the medical professional in real time through visual or audible warnings during surgical navigation, thereby improving the reliability of positioning and the accuracy of navigation.

[0037] [Beneficial effects from the examples] The automated screw implantation system according to the present invention uses a motor element to drive a guide needle, drilling a pilot hole at high rotational speed and low torque, and then using the motor element to drive a power transmission component, controlling the hollow pedicle screw to screw it into the pilot hole at low rotational speed and high torque. Therefore, by combining the drilling step and the screw screwing step, the automated screw implantation system according to the present invention can complete the screw implantation surgery without the need to change instruments. This not only simplifies the steps of the screw implantation surgery but also improves the efficiency and accuracy of the screw implantation surgery.

[0038] Conventional pedicle screw technology creates a pilot hole by impact. This method has the drawback of being prone to slipping on smooth bone surfaces. The screw implantation device 1 according to the present invention rotates the guide needle 13 at high speed (10,000 rpm or more), allowing the needle tip 131 of the guide needle 13 to be quickly screwed in the moment it contacts the bone surface to form a pilot hole H. This prevents slipping and misalignment, resulting in more accurate positioning of the pilot hole H. On the other hand, the present invention features a structural design in which the hollow pedicle screw T and the guide needle 13 are separated from each other. Because the hollow pedicle screw T covers the guide needle 13 and remains stationary, it is possible to prevent the guide needle 13 from contacting and damaging other parts of the patient's body (non-surgical areas) during high-speed rotation.

[0039] Furthermore, in conventional pedicle screw implantation surgery, it is necessary to change instruments to separately perform the formation of the pilot hole H and the screwing in of the hollow pedicle screw T. In contrast, the present invention can satisfy the needs of forming the pilot hole H and screwing in the hollow pedicle screw T using the same instrument (i.e., screw implantation device 1), thus eliminating the need to change instruments during the process of forming the pilot hole H and screwing in the screw, and further eliminating extra implementation steps.

[0040] Furthermore, in conventional pedicle screw implantation surgery, a guide wire must be attached and passed through the hollow pedicle screw, and the hollow pedicle screw must be moved along the guide wire to the position of the pilot hole and then screwed in. However, surgical methods using a guide wire cannot guarantee that the guide needle or pedicle screw will not penetrate the spine. In contrast, the screw implantation device 1 according to the present invention, through the structural design of the power transmission component 12 (first rod 122 and second rod 123), allows the guide needle 13 to move forward and backward when the motor element 11 is rotated in different rotational directions. Therefore, the guide needle 13 can be retracted within the hollow pedicle screw T when screwing in the pedicle screw T, ensuring that the spine is not damaged.

[0041] The information disclosed herein represents only preferred embodiments of the present invention and does not limit the scope of the claims. Accordingly, all equivalent technical modifications made using the specification and drawings of the present invention are included within the scope of the claims. [Explanation of Symbols]

[0042] D: Automatic screw embedding system 1: Screw embedding device 11: Motor element 12: Power transmission components 121: Coupling 1211: Connection part 122: 1st Rod 1221: First connection section 1222: Second connection section 123: Second Rod 13: Guide needle 131: Needle tip 14: Torque sensor 15: Motor Encoder 2: Mechanical equipment 3: Processing Unit 4: Surgical Navigation Module 41: Navigation Mark Element 42: Optical Tracker 5:Display device B: Patient T: Hollow pedicle screw S:Surgical incision P: Planned surgical site H: Pilot Hole

Claims

1. An automated screw embedding system equipped with a screw embedding device, The aforementioned automatic screw embedding device, Power transmission components used to insert hollow pedicle screws, A guide needle that penetrates the hollow pedicle screw and is arranged coaxially with the hollow pedicle screw, The system comprises the power transmission component and a motor element that is powerwise connected to the guide needle, The motor element is used to advance the guide needle, and in the process of the guide needle moving forward, it rotates the guide needle with a first rotational speed and a first torque. After the guide needle has finished moving forward, the motor element drives the power transmission component to screw the hollow pedicle screw into the pilot hole at a second rotational speed less than the first rotational speed and a second torque greater than the first torque. An automated screw embedding system characterized by the following features.

2. The first rotational speed exceeds 10,000 rpm, the first torque is less than 0.5 Nm, the second rotational speed is less than 300 rpm, and the second torque exceeds 5 Nm. The automatic screw embedding system according to claim 1.

3. The guide needle rotates in a first rotational direction, and the hollow pedicle screw rotates in a second rotational direction opposite to the first rotational direction. The automatic screw embedding system according to claim 1.

4. The aforementioned guide needle and the aforementioned hollow pedicle screw are separated from each other and do not interfere with each other. The automatic screw embedding system according to claim 1.

5. While the guide needle is rotating, the hollow pedicle screw is fitted to the outside of the guide needle. And to remain stationary. The automatic screw embedding system according to claim 4.

6. When the motor element drives the power transmission component to rotate the hollow pedicle screw, the guide needle moves in the opposite direction to the forward direction of the hollow pedicle screw. The automatic screw embedding system according to claim 1.

7. The automatic screw embedding system further comprises a mechanical device and a processing device, wherein the processing device is electrically connected to the mechanical device, the mechanical device is connected to the screw embedding device, and the processing device controls the operation of the mechanical device. The automatic screw embedding system according to claim 1.

8. The automated screw implantation system further comprises a surgical navigation module, the surgical navigation module comprising a plurality of navigation marker elements positioned at the mechanical device, the screw implantation device, and the planned surgical site, respectively, thereby establishing a spatial coordinate system, and the processing unit plans the planned surgical route based on the spatial coordinate system. The automatic screw embedding system according to claim 7.

9. The aforementioned mechanical device moves the screw implantation device based on the planned surgical route. The orientation of the screw implantation device is corrected based on the planned surgical route, and the orientation includes the position and angle of the screw implantation device. The automatic screw embedding system according to claim 8.

10. The screw embedding device further comprises a torque sensor and a motor encoder, wherein the torque sensor and the motor encoder are coupled to the motor element, the torque sensor measures the torque of the motor element, the motor encoder measures the rotational speed of the motor element, the torque sensor and the motor encoder are electrically connected to the processing unit, and the processing unit monitors the operation of the screw embedding device by reading the rotational speed value and torque value of the motor element. The automatic screw embedding system according to claim 7.

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