62 results about "Spine surgery" patented technology

The invention relates to the technical field of artificial intelligence, and discloses a spinal surgery mechanical arm precise regulation and control system integrating deep learning and dynamic calibration, and the system comprises a digital twinborn body construction module which is used for constructing a dynamic spinal digital twinborn body of a target object; the motion path analysis module is used for generating a planned motion path of the mechanical arm; the coarse regulation and control module is used for calculating a translation vector and a rotation vector of the mechanical arm and executing coarse regulation and control of the mechanical arm when the path error is not smaller than a preset first threshold value; the fine regulation and control module is used for calculating the rigidity coefficient of the mechanical arm and executing fine regulation and control of the mechanical arm when the path error is smaller than a first threshold value and not smaller than a preset second threshold value; and the micron-order regulation and control module is used for calculating pulse voltage required by the micro-motion platform and executing micron-order regulation and control of the mechanical arm when the path error is smaller than a second threshold value and not smaller than a preset safety threshold value. The control precision and safety of the spine surgery mechanical arm can be improved.

The invention discloses a visual monitoring method assisted by an AI image recognition algorithm in a transparent working sleeve under a spine endoscope, and relates to the technical field of medical instruments, and the method comprises the following steps: collecting a torque waveform, a perfusion pressure signal and a cavity pressure signal under a unified event time base line, constructing a resonance frequency band spectrum, and obtaining a resonance frequency band spectrum; calculating a resonance pressure index and extracting a phase evolution trajectory for liquid level distortion reconstruction; and under the constraint of the resonance pressure index and the phase evolution trajectory, recovering the liquid level phase, reconstructing a lens phase field in front of the camera, calculating a view distortion gradient, and determining a liquid level dynamic distortion core area. According to the method, a resonance dynamic map is constructed through multi-source data fusion, a liquid level potential field is reconstructed, a visual field distortion area is locked, artifacts are eliminated in combination with image feature recognition, perfusion control is reversely driven based on a reliable visual field state, and a closed-loop regulation and control strategy with time reversal gating and self-adaptive updating capacity is formed. And stable and intelligent control of the visual field in the operation is realized.

A system and method for predicting spinal motion and vertebral locations and movement in surgeries through training and using predictive models generated using biomedical profiles of patient spines and surgical patient-specific features. A trained predictive model is used in combination with patient-specific features associated with a surgical patient such that during a real-time surgery the patient-specific features are provided to the trained predictive model and a segmental motion model is created. Using this real-time surgical data and interoperative data, the trained predictive model is updated which then used for updating the segmental motion model such that the updated segmental motion model may be used for producing a series of vertebral location predictions specific to movements and location of the spine of the surgical patient that may be provided to a surgical guidance system for use in performing the real-time surgery in accordance with a surgical plan.

The invention discloses a spine surgical operation support, and relates to the technical field of surgical operation supports. The spinal surgery support comprises a body supporting part and a leg supporting part, a supporting module is arranged on the body supporting part, a limiting mechanism is installed on the leg supporting part, the supporting module comprises an adjusting unit and a supporting unit, the adjusting unit comprises a chest cushion seat and an abdomen cushion seat, and partition plates are arranged on the chest cushion seat and the abdomen cushion seat. Adjusting seats are arranged on the partition plates, adjusting blocks are symmetrically arranged in sliding grooves in the adjusting seats, hinge shafts are fixedly installed on the adjusting blocks, and corresponding hinge push rods are hinged to the two sides of each hinge shaft. By means of the arrangement of the air holes, skin itch and the like caused by the fact that a patient lies over for a long time are avoided, the sponge layer can further provide soft supporting feeling, the rubber layer and the MR fluid layer are matched, needed sufficient supporting is provided, and the situation that the positions such as caudal vertebra joints of the spine protrude due to the fact that the chest or the abdomen of the patient sinks and loses supporting is avoided.

The utility model relates to the technical field of spine surgery, and discloses spine stabilizing and protecting equipment which comprises a back plate, a containing groove is formed in one end of the back plate, a connecting plate is fixed in the containing groove, a back protecting pad is fixed to one end of the connecting plate, and a protecting soft pad is arranged at the end, away from the connecting plate, of the back protecting pad. Multiple first threaded holes are formed in the inner side of the end, away from the containing groove, of the back plate, inserting grooves are formed in the two sides of the back plate, inserting plates are slidably connected into the inserting grooves, and multiple second threaded holes are formed in the surfaces of the inserting plates. According to the utility model, through the cooperative arrangement of the slot, the inserting plate, the back plate, the fixing bolt, the first threaded hole and the second threaded hole, the inserting plate is inserted into the slot of the back plate during use, then the fixing bolt is rotated to enable the surface of the bolt to fix and detach the inserting plate through the first threaded hole and the second threaded hole, and then the inserting plate is fixed into the slot; the distance between the arc-shaped clamping plates can be conveniently adjusted, so that the patients with different figures can be fixed, and the use universality of the device is improved.

The utility model discloses a kind of endoscope surgery pasting film, it is related to medical supplies technical field, including first film, second film, water baffle and liquid collecting and guiding bag.The bottom surface of first film is used to paste on skin.Second film is located on the top surface of first film, and the accommodating cavity that is formed with upward protrusion between second film and first film.Water baffle is located in accommodating cavity, and the region formed by surrounding water baffle is used to accommodate liquid.Liquid collecting and guiding bag is connected with one side of second film, and the bag opening of liquid collecting and guiding bag is towards the opening of water baffle, so that the liquid in the region formed by surrounding water baffle can flow into liquid collecting and guiding bag.In the process of operation by doctor, water baffle can be resisted by second film with physiological saline and patient's blood and other liquids, that is, water baffle plays a blocking role to liquid, so that liquid in the process of operation all stays in the region formed by surrounding water baffle, avoid the pollution of the surrounding environment of operation area.

The utility model provides a thoracolumbar spine nail channel personalized nail placing device, and belongs to the field of surgical instruments in the field of spine surgery in clinical medicine and external science. The screw placement device comprises a holding assembly, a connecting piece and a bone recognition assembly, the connecting piece is used for connecting the holding assembly with the screw tap assembly or the pedicle screw tool bit, and the holding assembly is fixedly connected or detachably connected with one end of the connecting piece; the screw tap assembly or the pedicle screw tool bit is arranged at the other end of the connecting piece and is fixedly or detachably connected with the connecting piece; the bone recognition assembly comprises a torque measuring component, and at least part of the torque measuring component is connected with the screw tap assembly and / or the pedicle screw tool bit so as to obtain the real-time torque of the screw tap assembly and / or the pedicle screw tool bit in the screwing-in process. The real-time torque of the screw tap assembly or the pedicle screw tool bit in the screwing-in process is obtained through the torque measuring component, the matched screw is selected, and the surgical curative effect is improved.

The auxiliary turning-over tool comprises a support, a rotating shaft is rotationally connected to the middle of the position between the front inner wall and the rear inner wall of the support, turning plates which are symmetrical left and right are fixedly connected to the outer portion of the rotating shaft, soft cushions are arranged at the upper ends of the turning plates respectively, and fixing belts are arranged at the inner side ends of the upper surfaces of the soft cushions respectively. The device further comprises a turnover mechanism and an anti-skid mechanism. The turnover mechanism comprises supporting strips, U-shaped blocks, connecting rods and U-shaped seats, the supporting strips which are symmetrical left and right are slidably connected between the front inner wall and the rear inner wall of the support, the U-shaped blocks which are symmetrical front and back are arranged at the upper ends of the supporting strips respectively, and the U-shaped seats which are symmetrical front and back are arranged at the lower ends of the turnover plates respectively; connecting rods are rotationally connected between the lower ends of the U-shaped blocks and the upper ends of the vertically adjacent U-shaped seats; when a patient is turned over, the auxiliary turning-over tool for spine surgery nursing is simple in structure, convenient to turn over, capable of ensuring the stability of the body of the patient and preventing the patient from sliding and convenient to use.

The utility model relates to the technical field of spine surgery nursing, in particular to a rehabilitation exercise device which comprises a nursing bed, a shell, two round rods, a sliding plate, a rolling shaft, a plurality of rubber wheels, a stepping motor, a rotating frame, a connecting rod, a fixing column, two sets of buffering units, an auxiliary unit and a protection unit. A controller is clicked to start a stepping motor, so that the stepping motor drives a rotating frame to rotate, a connecting rod is used for pulling a fixing column to move leftwards, at the moment, a buffering unit pulls a rolling shaft to move, a rubber wheel rolls on the back of a patient, the rotating frame rotates in a shaft mode, a sliding plate is pulled to move back and forth on a round rod, and rehabilitation treatment is conducted on the patient through repeated operation. The auxiliary unit is used for supporting the patient to get on and off the nursing bed, so that the fatigue strength of workers is reduced, and the rehabilitation quality and efficiency can be effectively improved.

A single-plane clamp hinge used for spine surgery comprises a double-shaft hinge and a clamp, the double-shaft hinge comprises a first hinge rod bearing piece, a second hinge rod bearing piece rotationally connected with the first hinge rod bearing piece, and a first hinge rod connected with the first hinge rod bearing piece. The first hinge rod is connected with the first hinge rod bearing piece, the second hinge rod is connected with the second hinge rod bearing piece, and the first locking screw and the second locking screw are used for locking the first hinge rod and the second hinge rod at a required angle. A first single-plane clamp and a second single-plane clamp, the first single-plane clamp is movably connected to the first hinge rod, and the second single-plane clamp is movably connected to the second hinge rod; the stabilizing rod is movably connected to the first single-plane clamp and the second single-plane clamp; a first temporary spine rod and a second temporary spine rod, the first temporary spine rod being movably connected to the first unipolar clamp and the second temporary spine rod being movably connected to the second unipolar clamp; and a first reduction rod holder and a second reduction rod holder, the first reduction rod holder being connectable to the first temporary spinal rod and the second reduction rod holder being connectable to the second temporary spinal rod.

The invention discloses a spinal surgery dilator which comprises a pair of rings, the outer sides of the two rings are connected with control handles, the two control handles are jointly connected with a supporting and fixing assembly, the supporting and fixing assembly comprises connecting discs connected with the free ends of the control handles, the two connecting discs are hinged in the axis direction of the connecting discs, the outer sides of the two connecting discs are connected with connecting arms, and the connecting arms are hinged to the free ends of the control handles. The free end of the connecting arm is rotationally connected with a rotating arm, the free end of the rotating arm is rotationally connected with a supporting arm through a rotating shaft, and the supporting arm is connected with a pair of connecting bolts through a distance adjusting assembly. The supporting and fixing assembly can be connected with two sections of spines of a patient respectively, the two pairs of connecting bolts are connected with the two sections of spines of the patient respectively, and meanwhile the supporting distance of the supporting and fixing assembly on the two sections of spines of the patient is finally changed by adjusting the included angle between the two control handles.

Disclosed herein is a device for use in a spine surgery. The device includes: a first member having a distal end and a proximal end and includes a first lumen extending through the axial length of the first member and has a proximal opining for introducing a first fluid therethrough; a second member having a distal end and a proximal end and includes a second lumen sized to accommodate the first member therein except the distal and proximal ends thereof, a third lumen having a distal opening and is parallel to the second lumen, and a proximal inlet connected to the third lumen for introducing a second fluid therethrough; and an expandable structure coupled to the distal opening of the third lumen, wherein the first member is made of a rigid material, while the second member is made of a flexible material; and the second fluid is to expand the expandable structure. Also disclosed herein is a method for treating a spine disease by use of the device disclosed herein.

The present application relates to the technical field of teaching apparatus, and provides a dynamic dissection demonstration device for thoracic vertebral yellow ligament, which solves the problem that students are difficult to realize the conversion of surgical skills due to the fact that the existing spine surgery teaching tool cannot simultaneously realize the three-dimensional shape real restoration and dynamic reversible operation of surgery. The present application comprises: simulated vertebrae arranged at intervals; simulated intervertebral discs arranged between adjacent simulated vertebrae; simulated vertebral plates arranged on one side of each simulated vertebra; simulated yellow ligaments arranged on one side of each simulated vertebral plate close to each simulated vertebra; each simulated vertebra and / or each simulated vertebral plate and / or each simulated yellow ligament is configured with a standard model and a pathological model, and the pathological model has morphological characteristics different from the standard model; the simulated vertebrae, simulated intervertebral discs and simulated vertebral plates are converted into independent and quickly detachable modules through magnetic blocks and adsorption blocks, and after the dynamic dissection demonstration of the yellow ligament is performed, repeated teaching demonstration and surgical practice can be performed.

Surgical systems and methods involve a robotic manipulator configured to support and move a surgical tool, and a control system coupled to the robotic manipulator. The control system obtains a bone mineral density (BMD) map of a target bone and controls the robotic manipulator to move the surgical tool into contact with the bone at one or more points. Using the BMD map, the control system determines predicted BMD values of the target bone at the contact points. The control system calculates an estimated operational parameter of the surgical tool based on the predicted BMD values. The control system measures an actual operational parameter of the tool during interaction with the bone and compares it to the estimated operational parameter to identify any discrepancy. Upon detecting a discrepancy, the control system generates a corrective action or alert.

A sickbed facilitating rehabilitation comprises a bedstead and a bed board assembly arranged on the bedstead, the bed board assembly comprises a first bed board, a second bed board and a third bed board which are sequentially hinged in the length direction, a steering mechanism is arranged between the second bed board and the bedstead, and a first turnover mechanism is arranged between the first bed board and the second bed board; a second turnover mechanism is arranged between the third bed board and the second bed board, and the bed frame is further provided with a lifting assembly used for driving the third bed board to be turned upwards. The first turnover mechanism drives the first bed board to turn over to form a backrest, the second turnover mechanism drives the third bed board to turn down to be matched with the second bed board to form a seat part, and flat lying and seat state switching is achieved. The whole bed board assembly horizontally rotates through the steering mechanism, and the body position direction can be adjusted without moving the body of the patient; due to the fact that the risk of secondary spinal injury caused by lack of the overall rotating function of a traditional sickbed is avoided, the requirement for natural placement of the lower limbs of the patient is met through thorough sitting posture conversion, the nursing burden can be relieved, sitting posture rehabilitation training can be matched, and the special rehabilitation requirement of the spine postoperative patient is met.

The invention provides a retractor for spine surgery, and relates to the technical field of medical instruments. The retractor for spinal surgery comprises a bottom plate, adjusting structures are arranged at the center of the upper end face of the bottom plate, the lower ends of the adjusting structures are fixedly connected to the upper end face of the bottom plate, a fixed structure is arranged at the center of the lower end face of the bottom plate, and the upper ends of the two adjusting structures are jointly connected with a movable structure. A dismounting rod is arranged at the center of the front side wall of the movable structure, and an opening structure is arranged at the lower end, close to the front side, of the dismounting rod. Through the arrangement of an expanding structure, during use, the distance between two expanding plates is adjusted by adjusting rotation of a second two-way lead screw, after the position is adjusted, a second adjusting bolt on one side is pushed towards the interior of a clamping groove, a limiting block is inserted into a limiting groove, then rotation of the second two-way lead screw is limited, and therefore the distance between the two expanding plates is adjusted; and a good positioning effect is achieved.

The invention relates to the technical field of medical equipment, in particular to an auxiliary positioning device for spine surgery. Comprising a fixing frame and further comprises a first positioning mechanism arranged on the fixing frame, the first positioning mechanism comprises a longitudinal positioning frame slidably connected into the fixing frame and a transverse positioning frame slidably sleeved with the longitudinal positioning frame, and a second positioning mechanism is arranged in the transverse positioning frame; the second positioning mechanism comprises an annular frame rotationally connected into the transverse positioning frame, a rectangular rail is fixedly connected to the inner wall of the annular frame, a lantern ring staggered with the rectangular rail is arranged, and a guide pipe is fixedly connected into the lantern ring. By arranging the first positioning mechanism, spines with different lateral bending degrees can be more comprehensively dealt with, the position of the catheter can be conveniently and rapidly adjusted, and by arranging the second positioning mechanism, when the catheter is rotated, the position of the catheter can be automatically adjusted and compensated, so that the axis of the catheter always faces a positioning point of the skin of a patient; repeated measurement and positioning are not needed, and operation efficiency is improved.

1. The name of the design product: endoscope channel (half ring type lateral approach spine). 2. The use of the design product: the design product is used to establish an operating channel for spine surgery. 3. The design points of the design product: in the perspective view. 4. The picture or photo that best indicates the design points: perspective view.

The utility model provides a clamp device for a single-side double-channel spine endoscope technology. The clamp device comprises a sliding rod, a movable clamp part, a fixed clamp part, a fixed handle rod, a movable handle rod and an elastic piece. The fixed clamp part is fixedly arranged at one end of the fixed handle rod, the movable clamp part is rotationally arranged at the end, close to the fixed clamp part, of the fixed handle rod, one end of the movable handle rod is rotationally connected with the end, away from the fixed clamp part, of the fixed handle rod, the sliding rod is slidably connected with the fixed handle rod, and the two ends of the sliding rod are connected with the movable clamp part and the movable handle rod respectively. The movable clamp part and the fixed clamp part are driven to be opened and closed by controlling the movable handle rod to rotate. According to the forceps device for the single-side double-channel spine endoscope technology, the elastic piece is arranged between the fixed handle rod and the movable handle rod in a position-adjustable mode, so that the opening force between the movable handle rod and the fixed handle rod can be correspondingly adjusted by adjusting the position of the elastic piece; and different operators can conveniently and comfortably operate the pliers device.

The present application provides a kind of spine surgery minimally invasive operation visual channel endoscope, including visual channel, lens, light source, guide rod, expansion pipe;Visual channel includes surgical operation channel, lens card slot, fixed connection part.Lens card slot is used to fix camera component part, and there is a light source hole on the two sides of lens card slot, for fixing cold light source head.Surgical operation channel is the channel of equal size up and down with external thread, it is convenient for surgeon to screw in and screw out soft tissue, reduce the extrusion and damage of channel to tissue.The visual channel endoscope, the visual field of surgeon can be directly operated under direct vision through surgical operation channel, also can be operated under mirror under the monitoring of camera.The double visual field of surgeon provides convenience and safety for operation, also is conducive to the observation and learning of assistant and learner, improves learning interest, is conducive to the promotion and development of spine minimally invasive surgery career.

The application discloses an angle-adjustable spine coagulation electrode, which comprises a cutter head assembly, a fixed body and a movable wire clamp; the cutter head assembly comprises an insulating rod, an inner tube and an outer tube, two electrodes insulated from each other are arranged at one end of the insulating rod, each electrode is connected with a conductive wire, and each conductive wire penetrates through the other end of the insulating rod and is connected with a cable; a first chamber and a second chamber are arranged in the fixed body and are communicated, a steel pipe clamp and a screw cap are fixed to the other end of the first chamber, first and second handles are arranged outside the fixed body; a reset spring is arranged in the first chamber; the movable wire clamp comprises a small-diameter section and a large-diameter section, and a third handle is arranged outside the movable wire clamp. The angle of the cutter head can be adjusted through axial extension and retraction and circumferential rotation of the cutter head by using one hand, the operation range is small, the cutter head rotates more smoothly, the use is more convenient, and the demand for multi-angle coagulation in spine surgery can be met.

The application relates to the field of artificial intelligence, and discloses a spine surgery mechanical arm precision regulation system combining deep learning and dynamic calibration, which comprises a digital twin construction module, a motion path analysis module, a coarse regulation module, a fine regulation module and a micrometer regulation module.The digital twin construction module is used for constructing a dynamic spine digital twin of a target object.The motion path analysis module is used for generating a planned motion path of the mechanical arm.The coarse regulation module is used for calculating a translation vector and a rotation vector of the mechanical arm when a path error is not less than a preset first threshold value, and performing coarse regulation of the mechanical arm.The fine regulation module is used for calculating a stiffness coefficient of the mechanical arm when the path error is less than the first threshold value and not less than a preset second threshold value, and performing fine regulation of the mechanical arm.The micrometer regulation module is used for calculating a pulse voltage required by a micro-motion platform when the path error is less than the second threshold value and not less than a preset safety threshold value, and performing micrometer regulation of the mechanical arm.The application can improve the control precision and safety of the spine surgery mechanical arm.

The invention belongs to the field of spinal curvature detection, and particularly relates to a spinal curvature detection device for spinal surgery, which comprises a fixed base, the top of the fixed base is rotatably connected with a disc, the top of the disc is provided with an adjusting assembly, the adjusting assembly is provided with a mounting seat, the mounting seat is provided with a detection assembly, and the detection assembly is provided with a detection module. The detection assembly comprises a detection seat, and the detection seat is fixedly connected to the inner wall of the installation seat. According to the spinal curvature detection device for spine surgery, through the arrangement of the permanent magnetic chuck, after the detection sliding rod is attached to the spine and adjusted to the detection position, the detection base can adsorb and fix the detection sliding rod through the permanent magnetic chuck, the detection sliding rod is prevented from shifting due to self weight in the vertical or inclined detection state, and the attaching stability of the detection sliding rod and the spine contour is guaranteed; meanwhile, the multiple sets of evenly-distributed detection sliding rods can fully cover the spine detection area, the synchronous reset function of the reset push plate is combined, detection comprehensiveness is guaranteed, and detection operation convenience is improved.

The invention discloses a spine minimally invasive integrated light source memory alloy self-stabilizing type paravertebral retractor, and belongs to the technical field of medical science. The spine minimally invasive integrated light source memory alloy self-stabilizing type paravertebral retractor comprises a traction rod, a plurality of clamping teeth A are symmetrically and fixedly arranged on the vertical section of the traction rod, and an abutting plate is arranged on the side edge of the vertical section of the traction rod; a plurality of clamping teeth B are symmetrically and fixedly arranged on the face, close to the clamping teeth A, of the abutting plate in the vertical direction, any clamping tooth B is clamped between the two adjacent clamping teeth A corresponding to the clamping tooth B, an abutting plate B is arranged on the side, away from the traction rod, of the abutting plate, and the face, used for making contact with the notch, of the abutting plate B is a smooth plane. According to the invention, the retractor is more convenient, the stability of the retractor is improved, and the retractor can be effectively applied to spine surgery and minimally invasive surgery.

The present embodiment relates generally to methods of performing surgical technique maxillary sinus floor augmentation with a lateral approach using a pre-portioned and ready pre-packaged bone graft composition in gelatin bags and method of producing gelatin bags. In addition the present inventions can be widely used in other medical fields such as dentistry, orthopedic surgery, spine surgery, plastic and reconstruction surgery, sport medicine, trauma surgery, phinoplasty surgery and veterinary.

The disclosed method supplements spine surgery by data processing. The method is modular using one or more data processing blocks related to one or more tasks of a spine surgery workflow, depending on the desired level of support by the data processing method. Each data processing block has input data and / or output data and processing logic that transforms the input data into the output data or generates the output data. Embodiments of the invention relate to different combinations of processing blocks. In the maximum scope, the data processing method covers all stages of the spine surgery workflow from pre-operative data acquisition to post-operative evaluation of the outcome.

The embodiment of the invention discloses a method and a system for planning a posterior approach spine endoscopic surgery based on computer assistance. The method comprises the following steps: acquiring a spinal imaging examination result of a patient, and realizing preliminary verification by virtue of a computer in combination with a surgical tool; after the verification is passed, a new image is obtained based on an image recognition technology, and planar operation planning verification is realized; and after passing, establishing a three-dimensional cervical vertebra model for feasibility analysis, and outputting a final surgical planning map. The method has the following advantages: 1, the operation feasibility is objectively evaluated; 2, surgical planning and design are assisted, a computer is used for aided design of a surgical approach, and the optimal clinical effect is achieved with the minimum trauma; and 3, different medical instruments can be brought in to respectively inspect the operation effects of the medical instruments. Reference is provided for selection of surgical tools, and medical cost is reduced. And 4, the operation planning scheme can be used for reference learning of clinicians or operation robots.

The invention belongs to the technical field of medical instruments, and discloses a spine surgery positioning and guiding system which comprises a supporting frame, a connecting assembly is arranged in an inner cavity of the supporting frame, a mounting assembly is fixedly mounted at the end of the supporting frame, a fixing assembly is fixedly mounted at the bottom of the supporting frame, and the connecting assembly comprises a driving unit. Limiting units are fixedly arranged on the two sides of the driving unit, a telescopic rod is fixedly installed between the limiting units, and a connecting unit is fixedly installed at the bottom of the telescopic rod. Through cooperation of structures such as a limiting block and a driving unit, a limiting piece drives a telescopic rod and a connecting unit to be taken down, so that the limiting piece and the connecting unit can be cleaned more conveniently, it is avoided that a large amount of time is consumed when the device is cleaned, and after disassembly and cleaning are completed, the device can be better stored; and the situation that a large amount of space is occupied when the device is stored, and consequently space waste is caused is avoided.

Surgical systems and methods involve a robotic manipulator with a force sensor and a surgical tool that holds a screw. The screw has a known thread geometry. A navigation system tracks a pose of a target anatomy. Controller(s) store the known thread geometry and control the robotic manipulator to maintain the rotational axis on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy. The controller(s) detect, with the force sensor, a force applied by a user. The controller(s) control a rotational rate of the surgical tool to rotate the screw about a rotational axis and an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory. The rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry.

The invention relates to the technical field of orthopedic surgery, in particular to a pedicle screw for spine surgery. Comprising a nail body, a nail tail is rotationally arranged at the upper end of the nail body, an inner nail base is arranged between the nail tail and the nail body in an inserted mode, and the inner nail base is rotated in the nail tail to adjust the angle of the nail tail and the connection relation between the nail body; a nail seat inserting hole is longitudinally formed in the center of the upper end of the nail tail in a penetrating mode, a limiting rotating ring is arranged at the lower end of the nail tail, a limiting rotating groove is formed in the upper end of the nail body, and the nail tail slides in the limiting rotating groove in a limited mode through the limiting rotating ring; a lower inserting hole is formed in the center of the nail body and communicated with the nail base inserting hole, a plurality of limiting convex grooves are evenly formed in the lower inserting hole, and lower clamping grooves are formed in the bottom ends of the limiting convex grooves. The vertebral pedicle screw has the beneficial effect that the problem that an existing vertebral pedicle screw cannot perform accurate angle rotation on a root screw after vertebral pedicle drilling puncture is completed, so that a plurality of root screws cannot be integrally connected, supported and stabilized correspondingly is solved.