CN113693670A - Nail placing device and system for orthopedics department - Google Patents

Nail placing device and system for orthopedics department Download PDF

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Publication number
CN113693670A
CN113693670A CN202110807537.9A CN202110807537A CN113693670A CN 113693670 A CN113693670 A CN 113693670A CN 202110807537 A CN202110807537 A CN 202110807537A CN 113693670 A CN113693670 A CN 113693670A
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China
Prior art keywords
linear
orthopedic
seat
motor
speed reducer
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Granted
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CN202110807537.9A
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Chinese (zh)
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CN113693670B (en
Inventor
朱圣晓
施林志
陈嘉瑞
张涛
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Shenzhen Xinjunte Smart Medical Equipment Co ltd
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Shenzhen Xinjunte Smart Medical Equipment Co ltd
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Application filed by Shenzhen Xinjunte Smart Medical Equipment Co ltd filed Critical Shenzhen Xinjunte Smart Medical Equipment Co ltd
Priority to CN202310899650.3A priority Critical patent/CN116784928A/en
Priority to CN202110807537.9A priority patent/CN113693670B/en
Priority to CN202310912419.3A priority patent/CN116784930A/en
Priority to CN202310902052.7A priority patent/CN116784929A/en
Publication of CN113693670A publication Critical patent/CN113693670A/en
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Publication of CN113693670B publication Critical patent/CN113693670B/en
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
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    • A61B17/1604—Chisels; Rongeurs; Punches; Stamps
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    • A61B17/1655—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for tapping
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Abstract

The invention relates to an orthopedic nail placing device system, wherein the orthopedic nail placing device comprises a power drill mechanism and a feeding mechanism; the surgical tool is arranged on the power drill mechanism; the power drilling mechanism comprises a motor, and the motor drives the surgical tool to rotate; the feeding mechanism comprises a bottom plate, a linear motor and a linear guide rail, wherein the linear motor and the linear guide rail are arranged on the bottom plate; the feeding mechanism is connected with the power drilling mechanism, and the power drilling mechanism is driven by the linear motor to do linear reciprocating motion along the linear guide rail, so that the feeding motion of the surgical tool is realized. The orthopedic implanting operation operating system comprises an orthopedic implanting nail device and computing equipment and/or a control center which are connected with the orthopedic implanting nail device, so that information of the orthopedic implanting nail device is obtained for information processing and the orthopedic implanting nail device is subjected to function control.

Description

Nail placing device and system for orthopedics department
Technical Field
The invention relates to the technical field of medical instruments, in particular to an orthopedic nail placing device and system.
Background
The pedicle screw implantation operation is a common operation, and plays an important role in treatment such as spinal trauma reduction, deformity correction and the like, and the key to successful pedicle screw internal fixation operation lies in whether a screw can be accurately implanted through the pedicle of a vertebral arch without damaging the neural vertebral body.
At present, no automatic or semi-automatic tool for pedicle screw implantation surgery, which can be directly used for an orthopedic surgery robot, exists. The existing orthopedic robot is only used for navigation and positioning to a focus, and a doctor carries out an orthopedic implantation operation by bare hands; or the low-speed power drill is matched for use, and the screw is manually placed. When a doctor taps and puts nails by hands, the doctor needs to pay large physical strength, and because the hardness of cortical bones is high, the doctor often needs to knock in by means of tools such as hammers when reaming by hands, and the operation causes large impact force to the human body, so that accidental injury is easy to occur; furthermore, the last tightening torque cannot be effectively controlled when the screw is screwed in manually. When the low-speed power drill is used for tapping and placing the screw, a doctor lacks the hand feeling of screwing in by bare hands, and is difficult to judge whether the screw is in place; the navigation mark frame is added at the tool end of tapping, low-speed power drill and the like, although the position of the tool tip in the bone can be tracked in real time, due to human reaction, physiological fatigue and other reasons, a time delay condition exists, and the depth is not accurate enough.
Therefore, it is necessary to provide an orthopedic nail-placing device which is convenient and easy to operate, accurate in orthopedic placing operation position, capable of improving operation efficiency and reducing operation injury.
Disclosure of Invention
The invention aims to provide an orthopedic nail placing device and an orthopedic nail placing system which are convenient and easy to operate and accurate in operation position.
In order to realize the purpose of the invention, the following technical scheme is provided:
an orthopedic nail placing device comprises a power drill mechanism, wherein a surgical tool is arranged on the power drill mechanism; the power drilling mechanism comprises a motor, and the motor drives the surgical tool to rotate; the orthopedic nail placing device further comprises a feeding mechanism; the feeding mechanism comprises a bottom plate, a linear motor and a linear guide rail, wherein the linear motor and the linear guide rail are arranged on the bottom plate; the feeding mechanism is connected with the power drilling mechanism, and the power drilling mechanism is driven by the linear motor to do linear reciprocating motion along the linear guide rail, so that the feeding motion of the surgical tool is realized.
In some embodiments, the feed mechanism further comprises a moving seat; the movable seat is connected with the power drilling mechanism and a rotor of the linear motor, and the rotor of the linear motor drives the movable seat to drive the power drilling mechanism to do linear reciprocating motion; the linear guide rail is provided with a slide block which is in sliding fit along the linear guide rail; the moving seat is connected with the sliding block and slides along the linear guide rail together with the sliding block; the feeding mechanism further comprises a pressure sensor for detecting the resistance to the surgical tool during advancement; the pressure sensor is arranged between the moving seat and the power drilling mechanism; and the feeding mechanism and/or the power drill mechanism are/is also provided with a limit switch for detecting or limiting the movement position of the power drill mechanism.
In some embodiments, the motor of the power drill mechanism is mounted on a motor mount; the motor mounting seat is connected with the moving seat through a guide rod and linearly reciprocates along the linear guide rail together; the linear guide rail comprises two sliding blocks; the moving seat is arranged on a sliding block of the linear guide rail; the motor mounting seat is mounted on the other sliding block; the orthopedic nail placing device also comprises a speed reducer, and the surgical tool is connected with an output shaft of the speed reducer; the rotary output of the motor of the power drill mechanism is transmitted to the speed reducer, and the output shaft of the speed reducer drives the surgical tool to rotate; the limit switch comprises a photoelectric switch and an induction sheet; the photoelectric switch is arranged on the bottom plate, and the induction sheet is arranged on the movable seat and/or the power drill mechanism; the power drill mechanism is limited by the matching of the induction sheet and the photoelectric switch.
In some embodiments, the feed mechanism comprises a pair of the linear guides; two sides of the moving seat are respectively arranged on one sliding block of each of the pair of linear guide rails, and two sides of the motor mounting seat are respectively arranged on the other sliding block of the pair of linear guide rails; the pair of photoelectric switches are arranged on two sides of the bottom plate, the pair of induction pieces are respectively arranged on the moving seat and the motor installation seat, and the front and back positions of the power drill mechanism during linear reciprocating motion are limited through the matching of the induction pieces and the photoelectric switches.
In some embodiments, the power drill mechanism further comprises a speed increaser; the speed increaser is arranged on the speed reducer and is used for clamping a surgical tool; the secondary output shaft of the speed reducer is connected with the input shaft of the speed increaser, so that the speed increasing effect is realized; the speed increaser is provided with a drill chuck which clamps a surgical tool; the drill chuck is coaxially connected with an output shaft of the speed increaser; the quick-release joint is arranged on the speed reducer and used for clamping a surgical tool; the quick-release joint is coaxially connected with an output shaft of the speed reducer and can be used for detachably clamping the surgical tool; when the orthopedic nail placing device performs guide pin placing, a speed increaser and a speed reducer are sequentially connected to realize high-rotation-speed output; when reaming, tapping and nail placing operation are carried out, the reducer is used for realizing the output of low rotating speed and large torque.
In some embodiments, the power drill mechanism comprises a torque sensor and an adapter, one end of a mandrel of the torque sensor is connected with a motor of the power drill mechanism through the adapter, and the other end of the mandrel of the torque sensor is connected with an input shaft of a speed reducer, so that the rotary motion of the motor is transmitted to the speed reducer through the torque sensor to drive the surgical tool to rotate; the motor drives the torque sensor mandrel to rotate, and the torque is detected through the torque sensor; the movable seat is provided with a shaft hole; the other end of the mandrel of the torque sensor penetrates through the shaft hole in the movable seat to be connected with the input shaft of the speed reducer.
In some embodiments, the orthopedic nail placement device further comprises a reducer mount for supporting the reducer; the feeding mechanism further comprises a linear bearing; the guide rod penetrates through the linear bearing, and two ends of the guide rod are respectively connected with the motor mounting seat and the moving seat; the linear bearing can do linear reciprocating motion along the guide rod; the speed reducer mounting seat is connected to the linear bearing and linearly reciprocates along with the linear bearing; the feeding mechanism further comprises a sensor fixing block, the sensor fixing block is respectively fixed with the pressure sensor and the speed reducer mounting seat, and pressure detection is realized through relative movement of the speed reducer mounting seat and the moving seat.
In some embodiments, the surgical tool comprises one or more of a guide pin, a reamer, a bone screw connected to an extender; the orthopedic nail placing device also comprises a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism comprises a fixed support, a connecting rod mounting block, a pair of clamping blocks and at least one pair of connecting rods; the fixed support is arranged on the bottom plate, and the connecting rod mounting block is arranged on the fixed support; one end of the connecting rod is movably connected to the connecting rod mounting block, and the other end of the connecting rod is connected with the clamping block; a pair of clamping blocks are locked together by a fastener to clamp and fix the guide pin.
In some embodiments, the lead fixation mechanism includes a pair of long links and a pair of short links; one end of each long connecting rod is respectively and rotatably arranged at the two sides of the connecting rod mounting block; one end of each of the pair of short connecting rods is respectively and rotatably arranged at the two sides of the connecting rod mounting seat; the other ends of the long connecting rod and the short connecting rod are connected and fixed on a clamping block; the pair of clamping blocks are locked together by a hand screw, and the guide pin is clamped between the pair of clamping blocks.
In some embodiments, the orthopedic nail placement device further comprises a housing and a cross laser system; the cross laser system is arranged at the front end of the shell; the orthopedic nail placing device further comprises a binocular camera, wherein the binocular camera is installed at the front end of the feeding mechanism and is connected with computing equipment or a control center; the power drill mechanism is provided with a navigation surface, the navigation surface is provided with a visible light vision identification tracking pattern matched with the binocular vision camera, and the navigation surface is tracked through the binocular vision camera for tracking and monitoring; the orthopedic nail placing device also comprises a conduit mechanism; the guide pipe mechanism is arranged at the front end of the bottom plate; the guide pipe mechanism comprises a guide pipe, a guide pipe locking seat and a guide pipe base; the guide pipe passes through the through hole of the guide pipe locking seat and is arranged in the guide pipe locking seat; the catheter locking seat is detachably arranged on the catheter base; the catheter mechanism further comprises an upper adjusting seat, a lower adjusting seat and an adjusting base; the guide pipe base is arranged on the upper and lower adjusting seats, the upper and lower adjusting seats are arranged on the adjusting base, and the adjusting base is arranged on the bottom plate; the upper and lower adjusting seats can move up and down relative to the adjusting base to adjust the height and position; the orthopedic nail placing device further comprises a control circuit which is electrically and communicatively connected with the computing equipment and/or the control center.
The invention also provides an orthopedic implantation operation system, which comprises an orthopedic nail placing device, and computing equipment and/or a control center which are connected with the orthopedic nail placing device; the computing equipment and/or the control center comprises a processor and a storage medium, so as to acquire the information of the orthopedic nail placing device for information processing and perform function control on the orthopedic nail placing device.
Compared with the prior art, the invention has the following advantages:
the orthopedic nail placing device of the invention provides the driving force of the linear reciprocating motion of the power drill mechanism through the feeding mechanism, the feeding mechanism adopts a linear motor, and the power drill driving device is combined to drive the surgical tools clamped by the feeding mechanism, such as guide pins, reaming cones, screw taps, pedicle screws and the like, thereby realizing the orthopedic implantation surgical operation. The orthopedic nail placing device is used for performing orthopedic implantation operation, the implantation operation process is stable, the impact on a human body is small compared with manual orthopedic implantation operation, the operation efficiency and the orthopedic implantation accuracy are improved, and possible accidental injury in the bare-handed orthopedic implantation operation can be avoided.
Furthermore, the orthopedic nail placing device is also provided with a pressure sensor to finish real-time measurement of pressure, so that the resistance of a surgical tool in the advancing process in each procedure of the orthopedic placing operation can be measured; a torque sensor is arranged between the power drill driving device and the surgical tool clamping mechanism, and the torque sensor can accurately measure the torque of the pedicle screw in the whole placing process, so that whether the screw is placed in place or not is intelligently judged, loosening of the screw in the pedicle screw due to lack of fastening is avoided, and the success rate and accuracy of surgery are improved.
The orthopedic nail placing device can be fixed on an orthopedic surgery robot arm through the mounting interface, parameters of all links of a nail placing operation can be accurately controlled according to preoperative surgical planning, deviation caused by manual operation is reduced, operation precision is guaranteed, and labor intensity of doctors is relieved.
Furthermore, the orthopedic nail placing system combines the orthopedic nail placing device, the binocular vision system and the control center to form a complete operation system, realizes intelligent orthopedic nail placing operation, can track the operation condition of the intelligent orthopedic nail placing device through the binocular vision system, performs tracking monitoring, improves the accuracy of the orthopedic nail placing operation, and reduces operation risks.
Drawings
Fig. 1 is an exploded view of an orthopedic nail placement device in accordance with an embodiment of the present invention.
Fig. 2 is a perspective view of an orthopedic nail placement device in accordance with an embodiment of the present invention.
FIG. 3 is a perspective view of an orthopedic nail device in accordance with an embodiment of the present invention with a portion of the housing removed.
Fig. 4 is a perspective view of an orthopedic nail placement device clamping a reamer cone in accordance with an embodiment of the present invention.
FIG. 5 is a perspective view of an orthopedic nail-placing device holding nail-placing surgical tool according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a clamping mechanism of an orthopedic nail-placing device provided with a navigation surface according to an embodiment of the present invention, wherein the navigation surface in fig. 6 (a) is arranged on a speed reducer body, and the navigation surface in fig. 6 (b) is arranged on a speed increaser.
Detailed Description
The orthopedic nail placing device comprises a power drill mechanism, a linear feeding mechanism 2 and a power drill mechanism 1, wherein the linear feeding mechanism 2 is connected with the power drill mechanism 1 and is used for generating linear reciprocating motion variables, and the power drill mechanism 1 comprises a power drill driving device 12 and a clamping mechanism 10 which is connected and driven by the power drill driving device. The clamping mechanism 10 is used to clamp orthopedic insertion surgical tools 6 such as guide pins 60, reamer cones 61, taps, and bone screws 62 mounted by extenders, etc. Specifically, the power drill driving device 12 may employ a driving motor. According to the invention, the linear feeding mechanism provides the driving force for the linear reciprocating motion of the power drill mechanism, and the driving control of the power drill driving device on the clamping mechanism is combined, so that the orthopedic implantation operation is realized, the operation efficiency and the orthopedic implantation accuracy are improved, and the accidental injury possibly caused in the conventional bare-handed orthopedic implantation operation is avoided.
Referring to fig. 1-5, in the present embodiment, an orthopedic implantation system includes a power drill mechanism 1, a linear feeding mechanism 2, a surgical tool 6, a guide needle fixing mechanism 7 selectively used, a cross laser system 8, a catheter mechanism 3 selectively used, and a binocular camera 9. The orthopedic implanting operation system of the invention is commonly used as an operation device for orthopedic implanting nail operation.
The power drill mechanism 1 is connected to the linear feeding mechanism 2, and the linear feeding mechanism 2 generates linear reciprocating motion and drives the power drill mechanism 1 to do linear reciprocating motion. The power drill mechanism 1 includes a power drill drive 12 and a surgical tool holding mechanism 10 connected by the power drill drive 12. The holding mechanism 10 is provided with an orthopedic implant operation tool, namely an operation tool 6, and the power drill driving device 12 drives the operation tool 6 to rotate. The power drill driving device 12 is generally a motor, and the power drill mechanism 1 further includes a motor mounting base 13, and the motor is mounted on the motor mounting base 13. The motor mounting seat 13 is connected with the linear feeding mechanism 2, so that the feeding mechanism 2 drives the power drill mechanism 1 to perform linear feeding motion, and surgical tools are pushed into a surgical site.
Specifically, the linear feeding mechanism 2 includes a base plate 29, and a linear motor 20, a pair of linear guide rails 2, a moving base 23, a photoelectric switch 230, and a sensing piece 231, which are mounted on the base plate 29. The linear guide 21 has two sliders 210, and the sliders 210 slide relative to the linear guide 21 without departing from the linear guide 21. The moving base 23 is respectively connected with the linear motor 20 and the linear guide rail 21 and is driven by the linear motor 20 to generate linear reciprocating relative motion. Specifically, the movable base 23 is mounted on a mover 201 of the linear motor, and is driven by the mover 201 to move linearly; meanwhile, the movable base 23 is mounted on the slider 210 and slides along the guide rail 21 together with the slider 210. In the present embodiment, the stator 200 of the linear motor is disposed between the pair of linear guide rails 21. The linear motor 20 may be a flat plate type linear motor or a U-shaped slot type linear motor. The linear guide rail 21 is fixedly installed with the bottom plate 29, and the linear motor 20 is installed on the bottom plate 29.
The pair of photoelectric switches 230 are mounted on two sides of the bottom plate 29, the pair of sensing pieces 231 are respectively mounted on the moving seat 23 and the motor mounting seat 13, and the front and rear positions of the power drill mechanism 1 cannot exceed the limit position when the linear reciprocating motion is limited by the cooperation of the sensing pieces 231 and the photoelectric switches 230, so that mechanical failure is avoided. The opto-electronic switch 230 may employ other limit switches for detecting and limiting the extreme positions of the power drill mechanism 1. The photoelectric switch 230 may be an infrared light sensor, and may include an infrared receiving module and an infrared emitting module, for blocking the infrared signal when the movable base 23 or the motor mounting base 13 moves to move the sensing piece 231 to the position of the photoelectric switch 230. The information of the photoelectric switch is transmitted to a control main board or a control center to control the on or off of the linear motor.
The power drill mechanism 1 is mounted on the movable base 23 to move together with the movable base 23. The motor mounting base 13 of the power drill mechanism 1 is connected with the moving base 23 of the linear feeding mechanism 2, specifically, the motor mounting base is connected with the moving base 23 of the linear feeding mechanism 2 through the guide rod 17, in this embodiment, the guide shaft 17 is sleeved with the linear bearing 18 in a relatively sliding manner, and two ends of the guide shaft 17 are connected with the motor mounting base 13 and the linear feeding mechanism 2, so that the relative positions of the motor mounting base 13 and the linear feeding mechanism 2 are fixed.
The movable base 23 is mounted on one sliding block 210 of the linear guide rail 21, and the motor mounting base 13 is mounted on the other sliding block 210 of the linear guide rail 21 and can make a linear reciprocating relative motion along the linear guide rail 21. The linear bearing 18 is mounted on the guide bar 17, and the linear bearing 18 can move relatively along the guide bar 17. The motor mounting base 13 is fixed with the movable base 23 through the guide rod 17 and can do linear reciprocating motion along the linear guide rail 21 together. The linear bearing 18 is positioned between the motor mounting seat 13 and the moving seat 23, is connected in series by the guide rod 17, and is driven by the motor mounting seat 13 and the moving seat 23 to do linear reciprocating motion together. Shaft holes (not shown) are arranged on the motor mounting seat 13 and the moving seat 23, one end of the guide rod 17 is arranged on each of the motor mounting seat and the moving seat, a through hole is arranged in the linear bearing 18, and the guide rod 17 penetrates through the through hole.
The linear feeding mechanism 2 further comprises a pressure sensor 26, the pressure sensor 26 is fixed on the movable base 23 and is mounted on the power drill mechanism 1 through a sensor fixing block 260, the pressure sensor 26 is located between the linear feeding mechanism 2 and the power drill mechanism 1, and pressure detection can be achieved through relative motion or interaction force between the linear feeding mechanism 2 and the power drill mechanism 1. The pressure sensor can measure the pressure in real time, can measure the resistance of the surgical tool in the process of propulsion in each procedure of the orthopedic implantation operation, and avoids the occurrence of operation accidents. The power drill mechanism 1 includes a decelerator 11 and a decelerator mounting base 16, and the decelerator 11 is used for mounting and clamping the surgical tool 6. The reducer mounting base 16 is fixed to the linear bearing 18 and can reciprocate linearly with the linear bearing 18. The sensor fixing block 260 is respectively fixed to the pressure sensor 26 and the reducer mounting base 16, and pressure detection can be realized by relative movement between the reducer mounting base 16 and the moving base 23. In this embodiment, the reducer mounting base 16 has a cover structure, and covers the movable base 23, the torque sensor 15, and the motor mounting base 13. The bottom edge of the reducer mounting seat 16 is provided with a clamping groove (not shown) which is in clamping fit with the linear bearing 18, the linear bearing 18 is positioned between the sensor fixing block 260 and the motor mounting seat 13, the guide rod 17 penetrates through the linear bearing 18, and two ends of the guide rod 17 are respectively connected with the sensor fixing block 260 and the motor mounting seat 13 in front of and behind the linear bearing, so that the whole body can slide together.
The power drill mechanism 1 further comprises a torque sensor 15, a servo motor 12 (both drive means and motor are indicated at 12) and an adaptor 14. Torque sensor 15 installs on removing seat 23, servo motor 12 installs on motor mount pad 13, is connected servo motor 12 and torque sensor 15 through adapter 14 to make servo motor 12 can drive the rotation of torque sensor dabber, the rotation of torque sensor dabber drives the corresponding surgical tools 6 rotation of reduction gear 11 internal clamping, thereby establishes relevant operation such as passageway, reaming, tapping or put the nail. And the torque magnitude can be detected in real time by the torque sensor 15. The torque sensor 15 can accurately measure the torque in the whole screw placing operation process, so that whether surgical tools such as bone screws are placed in place or not is intelligently judged, looseness of the bone screws in operation positions (such as vertebral pedicle) caused by lack of fastening is avoided, and the operation success rate and accuracy are improved.
The clamping mechanism 10 of the power drill mechanism 1 is used for clamping the surgical tool 6. The clamping mechanism 10 comprises a speed reducer 11, the speed reducer 11 is mounted on a speed reducer mounting base 16, an input shaft of the speed reducer 11 is connected with a torque sensor 15, and the servo motor 12 transmits the rotary motion to the speed reducer 11 through the torque sensor 15. The reducer 11 is connected with a quick-release joint 110 for detachable operation tools 6. The quick release joint 110 may adopt a matching structure of a spring, a steel ball and a sleeve to facilitate the quick and convenient detachment of the surgical tool 6.
The nail placing device also comprises a speed increaser 19 matched with the speed reducer 11, thereby meeting different requirements of the operation processes of guide pin placing, hole expanding, tapping, nail placing and the like on the rotating speed.
When the guide pin 60 is inserted, the speed increaser 19 is connected with the speed reducer 11 in sequence to realize the output of high rotating speed; when reaming, tapping and nailing operations are performed, the output of low rotation speed and high torque can be realized only by using the reducer 11, at this time, the speed increaser 19 needs to be removed, and the tool for reaming, tapping or nailing operations is separately clamped by the quick-release joint 110 behind the reducer 11. Referring to fig. 2-3, when the guide pin 60 is inserted, the speed increaser 19 is connected with the speed reducer 11 in sequence to realize the output of high rotating speed. Referring to fig. 4-5, when reaming, tapping and nailing, the output of low speed and high torque can be realized by using only the speed reducer 11, and the speed reducer 11 can be omitted.
Specifically, when the guide pin 60 is inserted, the speed increaser 19 is sequentially connected with the speed reducer 11 to realize the output of high rotating speed, at the moment, the drill chuck 190 is adopted to clamp the guide pin and is installed on the speed increaser 19, the speed increaser 19 is coupled with the speed reducer 11, and a secondary output shaft of the speed reducer 11 is connected with an input shaft of the speed increaser 19 to realize the function of increasing speed. The speed increaser 19 is provided with a drill chuck 190, the speed increaser 19 and the drill chuck 190 thereof clamp the guide pin forwards, and the speed reducer 11 and the quick-release connector 110 clamp the operation tool for reaming, tapping or nail placing backwards. The quick-release joint 110 is coaxially connected with a first-stage output shaft of the speed reducer 11, and the drill chuck 190 is coaxially connected with an output shaft of the speed reducer 19. The speed reducer 11 is connected with the power drill driving device 12. The primary output shaft of the reducer 11 is coaxial with the output shaft of the speed increaser 19. Therefore, the orthopedic insertion surgical tool 6 such as the guide pin 60 is connected to the first-stage output shaft of the decelerator 11 and the output shaft of the speed increaser 19, clamped by the drill chuck 190, and the surgical tool 6 (the guide pin 60) is driven to rotate by the first-stage output shaft of the decelerator 11 and/or the output shaft of the speed increaser 19.
Referring to fig. 4-5 again, the clamping mechanism 10 is a two-in-one multifunctional clamping mechanism for reaming/nailing surgical tools, and includes a speed reducer 11 and a quick-release connector 110, wherein the speed reducer 11 is connected to a torque sensor 15 and a power drill servo motor 12. The reamer 61 or the bone screw 62 attached to the extender may be quickly connected to the reducer 11 by a quick disconnect 110. The gear unit 11 can be connected to the torque sensor 15 by means of screws, so that the servomotor 12 transmits the rotational movement to the gear unit 11 via the torque sensor 15.
Surgical tool 6 is a tool for orthopedic placement surgery and includes guide pin 60, reamer 61, and bone screw 62 attached to the extender. The bone screw may be a pedicle screw. The surgical tool 6 is selected for use according to the operating plan of the orthopaedic surgery.
The orthopedic nail placing device of the present embodiment further comprises a guide pin fixing mechanism 7 for positioning the guide pin 60.
The guide pin fixing mechanism 7 includes a fixing support 70 and a link mounting block 71. The fixed bracket 70 is mounted on the base plate 29, and the link mounting block 71 is mounted on the fixed bracket 70. Specifically, the guide pin fixing mechanism 7 clamps and positions the tail portion of the guide pin 60, the fixing support 70 is installed at the tail portion of the bottom plate 29 and fixed by a fastener such as a screw, and the link installation block 71 is installed at the top of the fixing support 70 and fixed by a fastener such as a screw.
The lead fixation mechanism 7 further includes a clamp block 72, a short link 73, a long link 74, and a fastener such as a thumb screw 75. In this embodiment, one end of each of the pair of long links 74 is mounted on each side of the link mounting block 71, and can rotate around a mounting point (a rotating shaft or a hinge); one end of each of the pair of short links 73 is mounted on the link mounting base 11, and is rotatable about a mounting point (a rotating shaft or a hinge). A pair of clamping blocks 72 are attached to the other end of each of the long and short links, respectively, and are fixedly attached, for example, by fastening screws to the bottom of the clamping blocks. The guide pin 60 is clamped between the two clamping blocks 72 by locking the two clamping blocks 72 together with the thumbscrew 75 (which may be another fastener). The opposite side surfaces of the clamping blocks 72 are formed with guide pin grooves, and when the two clamping blocks 72 are clamped, the guide pin grooves are closed to clamp the guide pin 60 in the grooves. In this embodiment, each clamping block 72 is pivotally connected to one side of the link mounting block 71 by a long link 74 and a short link 73 arranged one above the other. The bottom of the clamping block 72 is stepped to fix the other ends of the long link 74 and the short link 73 up and down. The fastener hand screw 75 locks the two clamping blocks 72 and is located on the top surface of the reducer mount 16. Each clamping block 72 may be pivotally connected to the link mounting block 71 by only a long link or only a short link.
The orthopedic nail placing device of the embodiment comprises a shell 5, wherein the shell 5 is installed on a bottom plate 29, partial components of a feeding mechanism 2 and a power drill mechanism 1 are contained in the shell, and a speed reducer 42 is installed on a speed reducer installation seat 16 and extends upwards to the top of the shell 5 for a certain height so as to install an orthopedic operation tool 6.
The orthopedic nail placing device comprises a cross laser system 8. The cross laser system 8 is arranged at the front end of the orthopedic nail placing device, and the cross laser system 8 is fixed at the front end of the shell 5 by the front shell 80, so that an accurate skin incision position of a patient is provided for a doctor.
The orthopedic nail placing device comprises a conduit mechanism 3, which comprises a conduit 35, a locking knob 36, a conduit locking seat 37, a conduit base 34, an up-down adjusting seat 30 and an adjusting base 31. The guide tube 35 is installed in the locking socket 37 through the guide tube locking socket 37 installation hole. Such as locking knob 36, removably mounts locking socket 37 to catheter base 34 for facilitating removal of catheter and catheter mechanism 37. Referring to fig. 4-5, during reaming and orthopedic placement procedures, catheter 35 need not be used, thus removing catheter 35 and catheter lock hub 37. The catheter base 34 is mounted on an up-down adjustment base 30, and the up-down adjustment base 30 is mounted on an adjustment base 31, and is adjustable in height by the up-down adjustment base, and is positioned by a fastener such as a thumb screw or a pin. The adjustment base 31 is mounted on the base plate 29. The duct mechanism 3 is mounted on the front end of the housing 5 and the bottom plate 29.
The orthopedic nail placing device comprises a binocular camera 9, wherein the binocular camera 9 is installed below the front end of a feeding mechanism through a binocular mounting seat 90 and is fixed on the lower side of a bottom plate 29 or a linear guide rail 21 through a platform fixing seat 91, and the binocular camera 9 is connected with computing equipment or a control center and can be used for tracking identification and intraoperative monitoring. The computing device or the control center may be a computing device or a console provided on the surgical robot or provided outside the surgical robot, and is used for acquiring information, performing information processing, function control, and the like.
The invention also provides an orthopedic nail placing system which comprises the orthopedic nail placing device, a binocular vision system and computing equipment or a control center, wherein the binocular vision system is connected with the computing equipment/the control center. The computing device/control center includes a processor and memory for obtaining information, data processing, and functional control of the orthopedic nail placement device. The binocular vision system comprises a binocular camera 9 used for binocular vision space positioning, and the binocular camera 9 is connected with the computing equipment/control center.
In the present embodiment, the feeding mechanism 2 may be implemented such that the linear guide 21 is fixedly installed on the bottom plate 29, the linear motor 20 is installed on the bottom plate 29, and the relative position of the linear motor 20 and the linear guide 21 is fixed. The slider 210 is disposed on the linear guide 21 and can make a linear reciprocating relative motion along the linear guide 21, and the movable base 23 is fixed on the slider 210. The linear motor 20 drives the movable base 23 and the linear guide rail 21 to perform linear reciprocating relative motion. The precise positioning of the feed movement of the mobile seat 23 is achieved by means of the grating scale 25 and the reading head 24. The head 24 may be mounted on the movable base 23 via the head mounting base 22, or may be mounted on the power drill mechanism 1 (for example, on the motor mounting base 13). The movable base 23 is provided with a sensing piece 231 which is matched with the photoelectric switch 230 to limit the limit position of the movement of the movable base 23. The sensor chip 231 may be mounted to the power drill mechanism 1 (e.g., to the motor mount 13). The power drill mechanism 1 is mounted on the movable base 23. In other embodiments, the movable base 23 is located inside the front end of the decelerator mounting base 16, the motor mounting base 13 is located inside the rear end of the decelerator mounting base 16, and the movable base 23 is provided with a sensing piece 231 which cooperates with the photoelectric switch 230 to define the limit position of the forward movement of the movable base 23. The motor mounting base 13 is provided with a sensing piece 231 for limiting the limit position of the backward movement of the motor mounting base 13. The front limit switch assembly and the rear limit switch assembly are arranged to limit the front limit position and the rear limit position of the power drill mechanism.
In this embodiment, the power drill mechanism 1 adopts a power drill driving mechanism which is a power drill servo motor 12, and a torque sensor 15 is arranged between the power drill servo motor 12 and the clamping mechanism 10 of the orthopedic surgical tool. The torque sensor 15 can accurately measure the torque of the pedicle screw or the orthopedic implant in the whole implanting process, so that whether the screw or the orthopedic implant is implanted in place or not is intelligently judged; loosening of the screw in the pedicle due to lack of tightening and the pedicle being twisted and exploded are avoided. The power drill servo motor 12 is arranged on the motor mounting seat 13, the clamping mechanism 10 is arranged on the moving seat 23, a guide rod 17 is connected between the moving seat 23 of the feeding mechanism 2 and the motor mounting seat 13, a linear bearing 18 is arranged on the guide rod 17, and the motor mounting seat 13 is arranged on another sliding block 210 on the linear guide rail 21.
The pressure sensor 26 is arranged between the power drill mechanism 1 and the moving seat 23 of the feeding mechanism 2, so that the pressure can be measured in real time, the resistance of the surgical tool in the propelling process in each procedure of the orthopedic implantation operation can be measured, and the occurrence of operation accidents is avoided.
In this embodiment, the fixing support 70 of the guide pin fixing mechanism 7 is mounted on the bottom plate 29, the clamping block 72 is connected to the decelerator mounting seat 16 through the long link 74 and the short link 73 and is located at the rear of the decelerator 11, corresponding to the position of the quick release joint 110, and the fastener locks the two clamping blocks 72 together to clamp the guide pin 60.
The surgical procedure for the insertion of bone screws generally comprises the following steps: positioning, bottom hole opening, tapping and nail placing. The orthopedic nail-placing device can also be used for the orthopedic operation of placing other implants. Conventional implants are bone screws, such as cannulated pedicle screws.
The orthopedic nail placing device further comprises a guide pin fixing mechanism 7, and the guide pin 60 is clamped and fixed by the guide pin fixing mechanism 7 in the surgical procedures of guiding by using the guide pin 60, such as reaming, tapping, nail placing and other surgical procedures. The front end of the guide pin 60 is inserted into the guide tube 35, the guide pin 60 is firstly placed according to the operation position and angle, and referring to fig. 2-3, the guide pin is used for determining the position and angle for placing the pedicle screw and guiding tools such as a reaming cone, a screw tap and a bone screw connected with an extender; then, the reaming cone 61 is replaced, and referring to fig. 4, reaming is carried out on the operation part along the guide; finally, the bone screw 62 connected to the extender is replaced and the screw is inserted along the guide pin 60, see fig. 5. The conduit 35 is mounted to the conduit base 34 or removed from the conduit base 34 by the conduit lock 37. During the insertion process of the guide pin 60, the guide pin fixing mechanism 7 does not participate in the operation.
The orthopedic nail placing device also comprises a control circuit, wherein the control circuit is used for controlling the orthopedic implanting operation and detecting the orthopedic implanting operation condition. Specifically, the control circuit may be connected to a control center/computing device via RSS485 or CAN communication to control various motions of the tool according to the preoperative plan. The orthopedic nail placing device further comprises an installation interface, and the orthopedic nail placing device can be installed on a mechanical arm of an orthopedic surgery robot through the installation interface, so that intelligent semi-automatic orthopedic nail placing operation is realized.
Referring to fig. 6, the clamping mechanism of the power drill mechanism of the orthopedic nail placing device of the present invention may be provided with a navigation surface 4, which may be provided on the body of the reducer 11; and a visible light vision identification tracking pattern matched with the binocular vision system is arranged on the navigation surface 4. And tracking and monitoring the navigation surface on the intelligent orthopedic nail placing device through the binocular vision system. The navigation surface 4 may also be provided on the body of the speed increaser 19.
Other embodiments may be obtained by combining or replacing the structures or components in the above embodiments, and the detailed structure and operation principle are not described herein.
The invention provides the driving force of the linear reciprocating motion of the power drill mechanism through the feeding mechanism, and is combined with the driving control of the power drill driving device on the clamping mechanism, the clamping mechanism mainly comprises a speed reducer 11 and a quick-release joint 110, and the clamping mechanism is used for clamping a guide pin, a reaming cone, a screw tap or a bone nail (such as a pedicle screw) connected to an extender and the like required in the operation, so that the orthopedic implantation operation is realized.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any equivalent changes based on the technical solutions of the present invention are within the protection scope of the present invention.

Claims (11)

1. An orthopedic nail placing device comprises a power drill mechanism, wherein a surgical tool is arranged on the power drill mechanism; the power drilling mechanism comprises a motor, and the motor drives the surgical tool to rotate; the orthopedic nail placing device is characterized by further comprising a feeding mechanism; the feeding mechanism comprises a bottom plate, a linear motor and a linear guide rail, wherein the linear motor and the linear guide rail are arranged on the bottom plate; the feeding mechanism is connected with the power drilling mechanism, and the power drilling mechanism is driven by the linear motor to do linear reciprocating motion along the linear guide rail, so that the feeding motion of the surgical tool is realized.
2. The orthopedic nail placement device of claim 1,
the feeding mechanism further comprises a moving seat; the movable seat is connected with the power drilling mechanism and a rotor of the linear motor, and the rotor of the linear motor drives the movable seat to drive the power drilling mechanism to do linear reciprocating motion;
the linear guide rail is provided with a slide block which is in sliding fit along the linear guide rail; the moving seat is connected with the sliding block and slides along the linear guide rail together with the sliding block;
the feeding mechanism further comprises a pressure sensor for detecting the resistance to the surgical tool during advancement; the pressure sensor is arranged between the moving seat and the power drilling mechanism;
and the feeding mechanism and/or the power drill mechanism are/is also provided with a limit switch for detecting or limiting the movement position of the power drill mechanism.
3. The orthopedic nail placement device of claim 2,
the motor of the power drill mechanism is arranged on the motor mounting seat;
the motor mounting seat is connected with the moving seat through a guide rod and linearly reciprocates along the linear guide rail together;
the linear guide rail comprises two sliding blocks; the moving seat is arranged on a sliding block of the linear guide rail; the motor mounting seat is mounted on the other sliding block;
the orthopedic nail placing device also comprises a speed reducer, and the surgical tool is connected with an output shaft of the speed reducer; the rotary output of the motor of the power drill mechanism is transmitted to the speed reducer, and the output shaft of the speed reducer drives the surgical tool to rotate;
the limit switch comprises a photoelectric switch and an induction sheet; the photoelectric switch is arranged on the bottom plate, and the induction sheet is arranged on the movable seat and/or the power drill mechanism; the power drill mechanism is limited by the matching of the induction sheet and the photoelectric switch.
4. The orthopedic nail placement device of any of claims 3,
the feeding mechanism comprises a pair of linear guide rails;
two sides of the moving seat are respectively arranged on one sliding block of each of the pair of linear guide rails, and two sides of the motor mounting seat are respectively arranged on the other sliding block of the pair of linear guide rails;
the pair of photoelectric switches are arranged on two sides of the bottom plate, the pair of induction pieces are respectively arranged on the moving seat and the motor installation seat, and the front and back positions of the power drill mechanism during linear reciprocating motion are limited through the matching of the induction pieces and the photoelectric switches.
5. The orthopedic nail placement device of claim 3,
the power drill mechanism further comprises a speed increaser; the speed increaser is arranged on the speed reducer and is used for clamping a surgical tool;
the secondary output shaft of the speed reducer is connected with the input shaft of the speed increaser, so that the speed increasing effect is realized;
the speed increaser is provided with a drill chuck which clamps a surgical tool; the drill chuck is coaxially connected with an output shaft of the speed increaser;
the quick-release joint is arranged on the speed reducer and used for clamping a surgical tool; the quick-release joint is coaxially connected with an output shaft of the speed reducer and can be used for detachably clamping the surgical tool;
when the orthopedic nail placing device performs guide pin placing, a speed increaser and a speed reducer are sequentially connected to realize high-rotation-speed output; when reaming, tapping and nail placing operation are carried out, the reducer is used for realizing the output of low rotating speed and large torque.
6. The orthopedic nail placement device of claim 3,
the power drilling mechanism comprises a torque sensor and an adapter, one end of a mandrel of the torque sensor is connected with a motor of the power drilling mechanism through the adapter, and the other end of the mandrel of the torque sensor is connected with an input shaft of a speed reducer, so that the rotary motion of the motor is transmitted to the speed reducer through the torque sensor to drive the surgical tool to rotate; the motor drives the torque sensor mandrel to rotate, and the torque is detected through the torque sensor;
the movable seat is provided with a shaft hole; the other end of the mandrel of the torque sensor penetrates through the shaft hole in the movable seat to be connected with the input shaft of the speed reducer.
7. The orthopedic nail placement device of claim 6,
the orthopedic nail placing device also comprises a speed reducer mounting seat used for supporting the speed reducer;
the feeding mechanism further comprises a linear bearing; the guide rod penetrates through the linear bearing, and two ends of the guide rod are respectively connected with the motor mounting seat and the moving seat; the linear bearing can do linear reciprocating motion along the guide rod;
the speed reducer mounting seat is connected to the linear bearing and linearly reciprocates along with the linear bearing;
the feeding mechanism further comprises a sensor fixing block, the sensor fixing block is respectively fixed with the pressure sensor and the speed reducer mounting seat, and pressure detection is realized through relative movement of the speed reducer mounting seat and the moving seat.
8. The orthopedic nail placement device of claim 7,
the surgical tool comprises one or more of a guide pin, a reaming cone and a bone nail connected with the extender;
the orthopedic nail placing device also comprises a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism comprises a fixed support, a connecting rod mounting block, a pair of clamping blocks and at least one pair of connecting rods; the fixed support is arranged on the bottom plate, and the connecting rod mounting block is arranged on the fixed support; one end of the connecting rod is movably connected to the connecting rod mounting block, and the other end of the connecting rod is connected with the clamping block; a pair of clamping blocks are locked together by a fastener to clamp and fix the guide pin.
9. The orthopedic nail placement device of claim 8, wherein said guide pin fixation mechanism comprises a pair of long links and a pair of short links; one end of each long connecting rod is respectively and rotatably arranged at the two sides of the connecting rod mounting block; one end of each of the pair of short connecting rods is respectively and rotatably arranged at the two sides of the connecting rod mounting seat; the other ends of the long connecting rod and the short connecting rod are connected and fixed on a clamping block; the pair of clamping blocks are locked together by a hand screw, and the guide pin is clamped between the pair of clamping blocks.
10. The orthopedic nail placement device of any of claims 1-9, further comprising a housing and a cross laser system; the cross laser system is arranged at the front end of the shell;
the orthopedic nail placing device further comprises a binocular camera, wherein the binocular camera is installed at the front end of the feeding mechanism and is connected with computing equipment or a control center; the power drill mechanism is provided with a navigation surface, the navigation surface is provided with a visible light vision identification tracking pattern matched with the binocular vision camera, and the navigation surface is tracked through the binocular vision camera for tracking and monitoring;
the orthopedic nail placing device also comprises a conduit mechanism; the guide pipe mechanism is arranged at the front end of the bottom plate;
the guide pipe mechanism comprises a guide pipe, a guide pipe locking seat and a guide pipe base;
the guide pipe passes through the through hole of the guide pipe locking seat and is arranged in the guide pipe locking seat; the catheter locking seat is detachably arranged on the catheter base;
the catheter mechanism further comprises an upper adjusting seat, a lower adjusting seat and an adjusting base;
the guide pipe base is arranged on the upper and lower adjusting seats, the upper and lower adjusting seats are arranged on the adjusting base, and the adjusting base is arranged on the bottom plate; the upper and lower adjusting seats can move up and down relative to the adjusting base to adjust the height and position;
the orthopedic nail placing device further comprises a control circuit which is electrically and communicatively connected with the computing equipment and/or the control center.
11. An orthopedic placement surgery operating system, characterized in that the system comprises an orthopedic nail placement device according to any of claims 1 to 10 and a computing device and/or a control center connected with the orthopedic nail placement device; the computing equipment and/or the control center comprises a processor and a storage medium, so as to acquire the information of the orthopedic nail placing device for information processing and perform function control on the orthopedic nail placing device.
CN202110807537.9A 2021-07-16 2021-07-16 Orthopedic nail placing device and system Active CN113693670B (en)

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CN202310899650.3A CN116784928A (en) 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system
CN202110807537.9A CN113693670B (en) 2021-07-16 2021-07-16 Orthopedic nail placing device and system
CN202310912419.3A CN116784930A (en) 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system
CN202310902052.7A CN116784929A (en) 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system

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CN202310899650.3A Division CN116784928A (en) 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system
CN202310912419.3A Division CN116784930A (en) 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system

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CN202310899650.3A Pending CN116784928A (en) 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system
CN202110807537.9A Active CN113693670B (en) 2021-07-16 2021-07-16 Orthopedic nail placing device and system
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