CN116784929A - Orthopedic nail placement device and orthopedic operation system - Google Patents

Orthopedic nail placement device and orthopedic operation system Download PDF

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Publication number
CN116784929A
CN116784929A CN202310902052.7A CN202310902052A CN116784929A CN 116784929 A CN116784929 A CN 116784929A CN 202310902052 A CN202310902052 A CN 202310902052A CN 116784929 A CN116784929 A CN 116784929A
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CN
China
Prior art keywords
linear
orthopedic
speed reducer
motor
seat
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Pending
Application number
CN202310902052.7A
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Chinese (zh)
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 CN202310902052.7A priority Critical patent/CN116784929A/en
Publication of CN116784929A publication Critical patent/CN116784929A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B17/1604—Chisels; Rongeurs; Punches; Stamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B17/1655—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for tapping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1757—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the spine
    • A—HUMAN NECESSITIES
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
    • A61B17/7062—Devices acting on, attached to, or simulating the effect of, vertebral processes, vertebral facets or ribs ; Tools for such devices
    • A61B17/7064—Devices acting on, attached to, or simulating the effect of, vertebral facets; Tools therefor
    • A—HUMAN NECESSITIES
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    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
    • A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
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    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/90—Guides therefor
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    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Neurology (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Surgical Instruments (AREA)

Abstract

The application relates to an orthopedic nailing device and an orthopedic imbedding operation system. Wherein, the orthopaedics nail placing device comprises a power drill mechanism and a feeding mechanism; the power drilling mechanism comprises a motor which is arranged on a motor mounting seat; the feeding mechanism comprises a base, a movable seat arranged on the base, a linear motor and a linear guide rail; the mover of the linear motor drives the movable seat to drive the power drill mechanism to reciprocate along the linear guide rail, so that the feeding motion of the surgical tool is realized; the motor mounting seat is connected with the moving seat through a guide rod and moves reciprocally along the linear guide rail together; the orthopedic nail placing device also comprises a speed reducer and a speed reducer mounting seat 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 moves in a linear reciprocating mode along with the linear bearing.

Description

Orthopedic nail placement device and orthopedic operation system
The application relates to a split application of an orthopaedics nailing device and a system, wherein the application number is 202110807537.9, the application date is 2021, 7, 16, and the split application is named as 'orthopedic nailing device and system'.
Technical Field
The application relates to the technical field of medical instruments, in particular to an orthopedic nailing device and an orthopedic imbedding operation system.
Background
Pedicle screw insertion is a very common operation, pedicle screws play an important role in the treatment aspects of spinal trauma reduction, deformity correction and the like, and the key to success of pedicle screw internal fixation operation is whether screws can be accurately inserted through the pedicle without damaging the neurovertebral body.
At present, no automatic or semi-automatic pedicle screw placement surgical tool which can be directly used for an orthopedic surgical robot exists. Currently known orthopedic robots are only used for navigation and positioning to focus, and doctors perform orthopedic implantation surgery by bare hands; or the screw is manually placed in the low-speed power drill. When a doctor performs tapping and nailing by bare hands, the doctor needs to pay a great deal of physical strength, and because the hardness of cortical bone is high, when the doctor manually performs reaming, the doctor often needs to knock in by means of tools such as a hammer, and the operation causes a great impact force on a human body, so that accidental injury is easy to occur; further, when the screw is manually screwed in, the last tightening torque cannot be effectively controlled. When the low-speed power drill is used for tapping and setting nails, doctors lack the hand feeling of bare-handed screwing, and whether the bolts are in place or not is difficult to judge; the navigation mark frame is added at the tool end of tapping, low-speed power drill and the like, and the position of the tool tip part in the bone can be tracked in real time, but due to the reasons of human reaction, physiological fatigue and the like, time delay conditions exist, and the depth is not accurate enough.
Therefore, there is a need to provide an orthopedic nail placement device which is convenient and easy to operate, accurate in orthopedic placement operation position, capable of improving operation efficiency and reducing operation injuries.
Disclosure of Invention
The application aims to provide an orthopedic nailing device and an orthopedic imbedding operation system, which are convenient and easy to operate and accurate in operation position.
In order to achieve the purpose of the application, the following technical scheme is provided:
an orthopaedics nail placing device comprises a power drill mechanism and a feeding mechanism; the power drilling mechanism comprises a motor, and the motor is arranged on a motor mounting seat; the surgical tool is arranged on the power drill mechanism and is driven to rotate by the motor; the feeding mechanism comprises a base, a movable seat, a linear motor and a linear guide rail, wherein the movable seat, the linear motor and the linear guide rail are arranged on the base; the movable seat is connected with the power drill mechanism and a rotor of the linear motor, and the rotor of the linear motor drives the movable seat to drive the power drill mechanism to reciprocate along the linear guide rail so as to realize the feeding movement of the surgical tool; the motor mounting seat is connected with the moving seat through a guide rod and moves reciprocally along the linear guide rail together; the power drill mechanism further comprises a speed reducer and a speed reducer mounting seat for supporting the speed reducer; the surgical tool is connected with an output shaft of the speed reducer; the rotation output of the motor of the power drill mechanism is transmitted to the speed reducer, and the operation tool is driven to rotate by the output shaft of 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 moves in a linear reciprocating mode along with the linear bearing. In some embodiments, an orthopedic nail placement device includes a power drill mechanism on which a surgical tool is mounted; the power drill 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 drill mechanism and a rotor of the linear motor, and the rotor of the linear motor drives the movable seat to drive the power drill mechanism to linearly reciprocate; the linear guide rail is provided with a sliding block which is in sliding fit along the linear guide rail; the movable seat is connected with the sliding block and slides relatively along the linear guide rail together with the sliding block; the feeding mechanism further comprises a pressure sensor for detecting the resistance force applied to the surgical tool in the pushing process; the pressure sensor is arranged between the movable seat and the power drilling mechanism; and a limit switch is also arranged on the feeding mechanism and/or the power drill mechanism, and the movement position of the power drill mechanism is detected or limited.
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 moves in a straight reciprocating manner along the linear guide rail; the linear guide rail comprises two sliding blocks; the movable seat is arranged on one sliding block of the linear guide rail; the motor mounting seat is mounted on the other sliding block; the orthopedic nailing device further comprises a speed reducer, and the surgical tool is connected with an output shaft of the speed reducer; the rotation output of the motor of the power drill mechanism is transmitted to the speed reducer, and the operation tool is driven to rotate by the output shaft of the speed reducer; the limit switch comprises a photoelectric switch and an induction piece; the photoelectric switch is arranged on the bottom plate, and the induction piece is arranged on the movable seat and/or the power drill mechanism; the power drill mechanism is limited by the cooperation of the sensing piece and the photoelectric switch.
In some embodiments, the feed mechanism comprises a pair of the linear guides; the two sides of the movable seat are respectively arranged on one sliding block of the pair of linear guide rails, and the two sides of the motor installation 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 sensing pieces are respectively arranged on the movable seat and the motor mounting seat, and the front and rear positions of the power drill mechanism during linear reciprocating motion are limited through the cooperation of the sensing pieces and the photoelectric switches.
In some embodiments, the power drilling mechanism further comprises a speed increaser; the speed increaser is arranged on the speed reducer and is used for clamping the surgical tool; an output shaft of the speed reducer is connected with an input shaft of the speed increaser, so that the effect of speed increase is realized; the speed increaser is provided with a drill chuck which clamps the operation tool; the drill chuck is coaxially connected with an output shaft of the speed increaser; the speed reducer is provided with a quick-release connector for clamping the surgical tool; the quick-release connector is coaxially connected with the output shaft of the speed reducer and is used for detachably clamping the surgical tool; when the orthopedic nailing device performs guide pin insertion, a speed increaser and a speed reducer are sequentially connected to realize high-rotation-speed output; when reaming, tapping and nailing operations are performed, a speed reducer is used for realizing low-rotation-speed and high-torque output.
In some embodiments, the power drill mechanism comprises a torque sensor and an adapter, wherein 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 is connected with an input shaft of a speed reducer, so that the rotating 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 sensor detects the torque; the movable seat is provided with a shaft hole; the other end of the mandrel of the torque sensor passes through the shaft hole on the movable seat and is connected with the input shaft of the speed reducer.
In some embodiments, the orthopedic nailing device further comprises a decelerator mount for supporting the decelerator; 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 moves in a linear reciprocating mode along with the linear bearing; the feeding mechanism further comprises a sensor fixing block, wherein the sensor fixing block is respectively fixed with the pressure sensor and the speed reducer mounting seat, and pressure detection is achieved 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 pin attached to an extender; the orthopedic nail placement device further comprises a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism comprises a fixing 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 installation block is arranged on the fixed support; one end of the connecting rod is movably connected with 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 fasteners to clamp and fix the guide pin.
In some embodiments, the lead securing mechanism includes a pair of long links and a pair of short links; each end of a pair of long connecting rods is rotatably arranged at two sides of the connecting rod installation block respectively; each end of a pair of short connecting rods is rotatably arranged at two sides of the connecting rod mounting seat respectively; the other ends of the long connecting rod and the short connecting rod are fixedly connected to a clamping block; the guide pin is clamped between the pair of clamping blocks by tightening the screw by hand.
In some embodiments, the orthopedic stapling 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 arranged at the front end of the feeding mechanism and is connected with the computing equipment or the control center; the power drill mechanism is provided with a navigation surface, the navigation surface is provided with a visible light visual identification tracking pattern matched with the binocular visual camera, and the navigation surface is tracked by the binocular visual camera for tracking and monitoring; the orthopedic nail device further comprises a catheter mechanism; the conduit mechanism is arranged at the front end of the bottom plate; the catheter mechanism comprises a catheter, a catheter locking seat and a catheter 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 also comprises an up-down 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 seat can move up and down relative to the adjusting base to adjust the height and position; the orthopedic nailing device further comprises a control circuit which is electrically and communicatively connected with the computing equipment and/or the control center.
The application also provides an orthopedic implantation operation system, which comprises an orthopedic nail device and computing equipment and/or a control center connected with the orthopedic nail device; the computing equipment and/or the control center comprises a processor and a storage medium, so that information of the orthopedic nailing device is acquired for information processing and function control of the orthopedic nailing device is performed.
Compared with the prior art, the application has the following advantages:
the orthopedic nail placing device provided by the application 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 driving device is combined with the driving device for driving the surgical tools clamped by the feeding mechanism, such as a guide pin, a reaming cone, a tap, a pedicle screw and the like, so that the orthopedic nail placing operation is realized. The bone nail placement device is used for bone placement operation, the operation process of the bone placement operation is stable, the impact on a human body caused by the artificial bone placement operation is small, the operation efficiency and the bone placement operation accuracy are improved, and possible accidental injury in the freehand bone placement operation can be avoided.
Furthermore, the orthopedic nailing device is also provided with a pressure sensor for measuring the pressure in real time, so that the resistance of the surgical tool in the propelling process in each procedure of the orthopedic implantation surgery can be measured; a torque sensor is arranged between the power drill driving device and the surgical tool clamping mechanism, torque of the pedicle screw in the whole implantation process can be accurately measured through the torque sensor, whether the screw is already in place is intelligently judged, looseness of the screw in the pedicle due to the fact that the screw is not fastened is avoided, and the success rate and accuracy of surgery are improved.
The orthopedic nail placing device can be fixed on the orthopedic operation robot arm through the mounting interface, parameters of each link of the opposite nail operation can be accurately controlled according to preoperative operation planning, deviation caused by manual operation is reduced, operation precision is ensured, and meanwhile labor intensity of doctors is relieved.
Furthermore, the orthopedic implant operation system combines the orthopedic implant device, the binocular vision system and the control center to form a complete operation system, so that intelligent orthopedic implant operation is realized, the operation condition of the intelligent orthopedic implant device can be tracked and monitored through the binocular vision system, the accuracy of orthopedic implant operation is improved, and the operation risk is reduced.
Drawings
Fig. 1 is an exploded view of an orthopedic nail device according to an embodiment of the present application.
Fig. 2 is a perspective view of an orthopedic nail device according to an embodiment of the present application.
Fig. 3 is a perspective view of an orthopedic nailing device according to an embodiment of the present application with a portion of the shell removed.
Fig. 4 is a perspective view of an orthopedic nail device according to an embodiment of the present application when clamping a reamer.
Fig. 5 is a perspective view of an orthopedic stapling device holding a stapling surgical tool in accordance with an embodiment of the present application.
Fig. 6 is a schematic structural view of a guiding surface provided on a clamping mechanism of an orthopedic nailing device according to an embodiment of the present application, wherein the guiding surface in fig. 6 (a) is provided on a speed reducer body, and the guiding surface in fig. 6 (b) is provided on a speed increaser.
Description of the embodiments
The orthopedic nailing device comprises a power drill mechanism, wherein the power drill mechanism comprises a power drill mechanism 1 and a linear feeding mechanism 2 which is connected with the power drill mechanism 1 and is used for generating linear reciprocating motion variable, 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 implant surgical tools 6 such as guide pins 60, reamer heads 61, taps, bone nails 62 mounted by extenders, and the like. Specifically, the power drill drive 12 may employ a drive motor. The application provides the driving force of the linear reciprocating motion of the power drill mechanism through the linear feeding mechanism and combines the driving control of the power drill driving device on the clamping mechanism, thereby realizing the operation of the orthopedic implantation operation, improving the operation efficiency and the precision of the orthopedic implantation operation and avoiding the accidental injury possibly caused in the prior freehand orthopedic implantation operation.
Referring to fig. 1-5, in this embodiment, an orthopedic implantation surgery operation system includes a power drill mechanism 1, a linear feeding mechanism 2, a surgical tool 6, a selectively used guide needle fixing mechanism 7, a cross laser system 8, a selectively used catheter mechanism 3, and a binocular camera 9. The orthopedic implant operation system of the application is commonly used as an operation device for orthopedic implant operation.
The power drill mechanism 1 is connected to the linear feed mechanism 2, and the linear feed mechanism 2 generates linear reciprocating motion and drives the power drill mechanism 1 to linearly reciprocate. The power drill mechanism 1 includes a power drill drive 12 and a surgical tool clamping mechanism 10 connected by the power drill drive 12. The holding mechanism 10 is internally provided with an orthopedic surgical tool, namely, a surgical tool 6, and the power drill driving device 12 drives the surgical tool 6 to rotate. The power drill driving device 12 is typically a motor, and the power drill mechanism 1 further includes a motor mount 13, where the motor is mounted on the motor mount 13. The motor mounting seat 13 is connected with the linear feeding mechanism 2, so that the linear feeding motion of the power drill mechanism 1 driven by the feeding mechanism 2 is realized, and the surgical tool is pushed into the surgical site.
Specifically, the linear feed mechanism
2 includes a base plate 29, a linear motor 20 mounted on the base plate 29, a pair of linear guides 21, a moving base 23, a photoelectric switch 230, and a sensing piece 231. The linear guide 21 has two sliders 210, and the sliders 210 slide relative to the linear guide 21 without being separated from the linear guide 21. The movable seat 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 moving seat 23 is mounted on a mover 201 of the linear motor, and is driven to linearly move by the mover 201; meanwhile, the moving seat 23 is mounted on the slider 210 to slide along the guide rail 21 together with the slider 210. In the present embodiment, the stator 200 of the linear motor is disposed between a pair of linear guides 21. The linear motor 20 may be a flat plate type linear motor or a U-shaped slot type linear motor. The linear guide 21 is fixedly mounted on the bottom plate 29, and the linear motor 20 is mounted on the bottom plate 29.
A pair of photoelectric switches 230 are mounted on both sides of the bottom plate 29, and a pair of sensing pieces 231 are respectively mounted on the movable seat 23 and the motor mounting seat 13, so that the front and rear positions of the power drill mechanism 1 are limited not to exceed the limit when the sensing pieces 231 and the photoelectric switches 230 are matched to limit the linear reciprocating motion, and mechanical faults are avoided. The photoelectric switch 230 may employ other limit switches for detecting and limiting the limit position 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, and blocks infrared signals when the moving base 23 or the motor mount 13 moves to move the sensing piece 231 to 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 traveling seat 23 to move together with the traveling seat 23. The motor mounting seat 13 of the power drill mechanism 1 is connected with the moving seat 23 of the linear feeding mechanism 2, specifically through a guide rod 17, in this embodiment, the guide rod 17 is sleeved with a linear bearing 18 in a relatively sliding manner, and two ends of the guide rod 17 are connected with the motor mounting seat 13 and the linear feeding mechanism 2, so that the relative positions of the motor mounting seat 13 and the linear feeding mechanism 2 are fixed.
The moving seat 23 is mounted on one slider 210 of the linear guide 21, and the motor mounting seat 13 is mounted on the other slider 210 of the linear guide 21, so as to be capable of performing linear reciprocating relative movement along the linear guide 21. The linear bearing 18 is mounted on the guide rod 17, and the linear bearing 18 can relatively move along the guide rod 17. The motor mounting seat 13 is fixed with the movable seat 23 through the guide rod 17 and can do linear reciprocating motion along the linear guide rail 21. 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 linearly reciprocate together. The motor mounting base 13 and the moving base 23 are provided with shaft holes (not shown), one end of each mounting guide rod 17 is provided with a through hole in the linear bearing 18, and the guide rods 17 pass through the through holes.
The linear feeding mechanism 2 further comprises a pressure sensor 26, wherein the pressure sensor 26 is fixed on the movable seat 23 and is arranged on the power drill mechanism 1 through a sensor fixing block 260, the pressure sensor 26 is positioned between the linear feeding mechanism 2 and the power drill mechanism 1, and pressure detection can be realized through relative movement or interaction force between the linear feeding mechanism 2 and the power drill mechanism 1. The pressure sensor can measure the resistance of the surgical tool in the propelling process in each procedure of the orthopedic implantation surgery in real time, so as to avoid surgical accidents. The power drill mechanism 1 includes a decelerator 11 and a decelerator mounting seat 16, the decelerator 11 being used for mounting and holding 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 seat 16, and pressure detection can be achieved through the relative movement of the reducer mounting seat 16 and the movable seat 23. In this embodiment, the reducer mounting base 16 is 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 movable seat 23 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 movable seat 23 and the motor mounting seat 13 which are arranged in front of and behind the linear bearing, so that the whole body slides together.
The power drill mechanism 1 further includes a torque sensor 15, a servo motor 12 (drive means and motor are indicated by reference numeral 12) and an adapter 14. The torque sensor 15 is installed on the movable seat 23, the servo motor 12 is installed on the motor installation seat 13, and the servo motor 12 is connected with the torque sensor 15 through the adapter 14, so that the servo motor 12 can drive the torque sensor mandrel to rotate, and the torque sensor mandrel rotates to drive the corresponding surgical tool 6 clamped in the speed reducer 11 to rotate, so that related surgical operations such as channel establishment, reaming, tapping or nail placement are performed. 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 nail placement operation process, so that whether an operation tool such as a bone nail is placed in place or not can be intelligently judged, loosening of the bone nail in an operation part (such as a pedicle) caused by no 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 arranged on a speed reducer mounting seat 16, an input shaft of the speed reducer 11 is connected with a torque sensor 15, and the servo motor 12 transmits rotary motion to the speed reducer 11 through the torque sensor 15. The decelerator 11 is connected with a quick-release joint 110 for the detachable surgical tool 6. The quick release connector 110 may be a spring, steel ball and sleeve fitting structure to facilitate easy and quick assembly and disassembly of the surgical tool 6.
The nailing device of the application also comprises a speed increaser 19 which is matched with the speed reducer 11, thereby meeting different demands of the operation processes of guide needle insertion, reaming, tapping, nailing and the like on rotating speeds.
When the guide pin 60 is placed in, the speed increaser 19 and the speed reducer 11 are sequentially connected to realize high-rotation-speed output; when the reaming, tapping and nailing operations are performed, only the speed reducer 11 is used to realize the output of low rotation speed and large torque, the speed reducer 19 needs to be removed, and the tools for the reaming, tapping or nailing operations are independently clamped by the quick-release joint 110 behind the speed reducer 11. Referring to fig. 2 to 3, when the guide pin 60 is inserted, the speed increaser 19 and the speed reducer 11 are sequentially connected to realize high-rotation-speed output. Referring to fig. 4 to 5, when reaming, tapping and setting nails, only the speed reducer 11 may be used to achieve low rotational speed and large torque output, and the speed increaser 11 may not be used.
Specifically, when the guide pin 60 is placed, the speed increaser 19 and the speed increaser 11 are sequentially connected to realize high-rotation-speed output, at this time, the drill chuck 190 is used for clamping the guide pin and is installed on the speed increaser 19, the speed increaser 19 is coupled with the speed increaser 11, and an output shaft of the speed increaser 11 is connected with an input shaft of the speed increaser 19 to realize the function of speed increase. The drill chuck 190 is arranged on the speed increaser 19, the speed increaser 19 and the drill chuck 190 thereof clamp the guide pin forwards, and the speed increaser 11 and the quick release joint 110 clamp the reaming, tapping or nail placing surgical tool backwards. The quick release coupling 110 is coaxially coupled to the output shaft of the speed reducer 11 and the drill chuck 190 is coaxially coupled to the output shaft of the speed increaser 19. The decelerator 11 is connected with the power drill driving device 12. The output shaft of the speed reducer 11 is coaxial with the output shaft of the speed increaser 19. Accordingly, the orthopedic implant surgical tool 6 such as the guide pin 60 is connected to the output shaft of the speed reducer 11 and the output shaft of the speed increaser 19, and is clamped by the drill chuck 190, and the surgical tool 6 (guide pin 60) is driven to rotate by the output shaft of the speed reducer 11 and/or the output shaft of the speed increaser 19.
Referring again to fig. 4-5, the clamping mechanism 10 is a two-in-one multifunctional clamping mechanism for reaming/nailing surgical tools, and comprises a speed reducer 11 and a quick release joint 110, wherein the speed reducer 11 is connected with a torque sensor 15 and a power drill servo motor 12. Reamer head 61 or bone pin 62 attached to the extender may be quickly attached to reducer 11 via quick release coupling 110. The speed reducer 11 can be connected to the torque sensor 15 by means of screws, so that the servomotor 12 transmits a rotational movement to the speed reducer 11 via the torque sensor 15.
The surgical tool 6 is a tool for orthopedic implant surgery and includes a guide pin 60, a reamer 61, and a bone pin 62 attached to an 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 nailing device of this 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 support 70 is mounted on the base plate 29, and the link mounting block 71 is mounted on the fixed support 70. Specifically, the guide pin fixing mechanism 7 clamps the tail of the positioning guide pin 60, the tail of the fixing support 70 mounted on the bottom plate 29 is fixed by a fastener such as a screw, and the link mounting block 71 is mounted on the top of the fixing support 70 and is fixed by a fastener such as a screw.
The lead fixing mechanism 7 further includes a clamp block 72, a short link 73, a long link 74, and a fastener such as a hand screw 75. In this embodiment, a pair of long links 74 are mounted at each end on either side of the link mounting block 71, and are rotatable about mounting points (shafts or hinges); a pair of short links 73 are each mounted at one end to a link mounting block 71 for rotation about a mounting point (pivot or hinge). A pair of clamping blocks 72 are connected to the respective other ends of a pair of long links 74 and a pair of short links 73, respectively, and the other ends of the long links and the short links are fastened to the bottoms of the clamping blocks, for example, by fastening screws. The guide pin 60 is clamped between the clamping blocks 72 by locking the clamping blocks 72 together by the hand-tightened screws 75 (other fasteners are also possible). The opposite sides of the clamping blocks 72 are formed with guide pin slots that close when the clamping blocks 72 are clamped, clamping the guide pin 60 within the slots. In the present embodiment, each of the clamping blocks 72 is rotatably connected to one side of the link mounting block 71 by one end of a long link 74 and a short link 73 provided up and down. The bottom of the clamping block 72 is stepped to vertically fix the other ends of the long link 74 and the short link 73. The fastener hand screws 75 lock the two clamping blocks 72 and are located on the top surface of the reducer mount 16. Each clamping block 72 may also be pivotally connected to the link mounting block 71 by a long link or a short link only.
The orthopedic nailing device of the present embodiment comprises a housing 5, the housing 5 is mounted on a bottom plate 29, part of components of the feeding mechanism 2 and the power drill mechanism 1 are accommodated therein, and a decelerator 42 is mounted on a decelerator mounting seat 16 to protrude upward to a certain height above the top of the housing 5 for mounting the orthopedic operation tool 6.
The orthopedic nailing device of the present application 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 front shell 80 fixes the cross laser system 8 at the front end of the outer shell 5, so that accurate skin incision positions of patients are provided for doctors.
The orthopedic nailing device of the present application comprises a catheter mechanism 3 comprising a catheter 35, a locking knob 36, a catheter locking seat 37, a catheter base 34, an up-down adjusting seat 30 and an adjusting base 31. The conduit 35 is mounted in the locking seat 37 through a conduit locking seat 37 mounting hole. The fastener, such as locking knob 36, removably mounts locking seat 37 to catheter base 34 for facilitating removal of catheter and catheter mechanism 37. Referring to fig. 4-5, the catheter 35 is not required for reaming and orthopedic implant procedures, and thus the catheter 35 and the catheter lock 37 are removed. The duct base 34 is mounted on the up-down adjusting base 30, and the up-down adjusting base 30 is mounted on the adjusting base 31, and the height is adjustable by the up-down adjusting base and is positioned by a fastener such as a hand screw or a pin. The adjustment base 31 is mounted on the base plate 29. The conduit means 3 is mounted at the front end of the housing 5 and the base plate 29.
The orthopedic nailing device comprises a binocular camera 9, wherein the binocular camera 9 is arranged below the front end of a feeding mechanism through a binocular mounting seat 90, is fixed on the lower side of a bottom plate 29 or a linear guide rail 21 through a platform fixing seat 91, and is connected with a computing device or a control center, so that tracking identification and intraoperative monitoring can be performed. The computing device or control center may be a computing device or console provided on or external to the surgical robot for obtaining information, processing information, controlling functions, and the like.
The application also provides an orthopedic implantation operation system, which comprises the orthopedic nailing device, a binocular vision system and a computing device or a control center, wherein the binocular vision system is connected with the computing device/the control center. The computing device/control center includes a processor and memory for obtaining information, data processing, and functional control of the orthopedic screw device. The binocular vision system comprises a binocular camera 9 for binocular vision spatial localization, the binocular camera 9 being connected to the computing device/control center.
In this embodiment, the feeding mechanism 2 may be implemented by fixing the linear guide rail 21 to the base plate 29, and fixing the linear motor 20 to the base plate 29, where the relative positions of the linear motor 20 and the linear guide rail 21 are fixed. The slider 210 is disposed on the linear guide 21, and can reciprocate linearly along the linear guide 21, and the movable base 23 is fixed to the slider 210. The linear motor 20 drives the movable seat 23 and the linear guide rail 21 to generate linear reciprocating relative motion. The precise positioning of the feed motion of the mobile carriage 23 is achieved by means of the grating ruler 25 and the reading head 24. The reading head 24 is attached to the movable base 23 via the reading head mount 22, or may be attached to the power drill mechanism 1 (for example, to the motor mount 13). The movable seat 23 is provided with a sensing piece 231 which cooperates with the photoelectric switch 230 to limit the movement limit position of the movable seat 23. The sensing piece 231 may be mounted on the power drill mechanism 1 (for example, on the motor mount 13). The power drill mechanism 1 is mounted on a mobile seat 23. In other embodiments, the moving seat 23 is located inside the front end of the reducer mounting seat 16, the motor mounting seat 13 is located inside the rear end of the reducer mounting seat 16, and an induction piece 231 is disposed on the moving seat 23 and cooperates with the photoelectric switch 230 to limit the limit position of the forward movement of the moving seat 23. The motor mount 13 is provided with a sensing piece 231 to limit the limit position of the backward movement of the motor mount 13. Front and rear limit switch assemblies are provided to limit the front and rear limit positions of the power drill mechanism.
In the present embodiment, the power drill drive adopted by the power drill mechanism 1 is a power drill servo motor 12, and a torque sensor 15 is provided between the power drill servo motor 12 and the clamping mechanism 10 of the orthopedic operation tool. The torque sensor 15 can accurately measure the torque of the pedicle screw or the bone implant in the whole implantation process, so that whether the screw or the bone implant is already in place or not can be intelligently judged; avoiding loosening of the screw in the pedicle due to lack of tightening and the pedicle being screwed up. The power drill servo motor 12 is mounted on the motor mounting seat 13, the clamping mechanism 10 is mounted on the movable seat 23, a guide rod 17 is connected between the movable seat 23 of the feeding mechanism 2 and the motor mounting seat 13, a linear bearing 18 is mounted on the guide rod 17, and the motor mounting seat 13 is mounted on the other sliding block 210 on the linear guide rail 21.
The pressure sensor 26 is arranged between the movable seat 23 of the power drill mechanism 1 and the movable seat 23 of the feeding mechanism 2, so that the real-time measurement of pressure is completed, the resistance of the surgical tool in the propelling process in each procedure of the orthopedic implantation surgery can be measured, and the surgical accident 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 blocks 72 are connected to the reducer mounting seat 16 and located behind the reducer 11 through the long connecting rod 74 and the short connecting rod 73, and corresponding to the quick-release joint 110, the two clamping blocks 72 are locked together by the fastener to clamp the guide pin 60.
The surgical procedure for the insertion of bone nails generally comprises the following steps: positioning, bottom hole punching, tapping and nail placement. The orthopedic nail device can also be used for orthopedic operation for placing other implants. Conventional implants are bone screws, such as hollow pedicle screws.
The orthopedic nailing device adopting the application further comprises a guide needle fixing mechanism 7, wherein the guide needle 60 is clamped and fixed by the guide needle fixing mechanism 7 in the operation procedures of guiding by using the guide needle 60, such as reaming, tapping, nailing and the like. 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, referring to fig. 2-3, the guide pin is used for determining the placement position and angle of the pedicle screw and guiding tools such as a reaming cone, a screw tap, a bone nail connected with an extender and the like; a reaming cone 61 is replaced, and referring to fig. 4, the surgical site is reamed along the guide; finally, the bone screw 62 attached to the extender is replaced and a screw is placed along the guide pin 60, see fig. 5. The catheter 35 is mounted to the catheter mount 34 by a catheter lock mount 37 or is removable from the catheter mount 34. The guide pin fixing mechanism 7 does not participate in the operation during the insertion process of the guide pin 60.
The orthopedic nail placing device further comprises a control circuit, wherein the control circuit is used for controlling orthopedic implant operation and detecting orthopedic implant operation conditions. Specifically, the control circuit may be connected to the control center/computing device via RSS485 or CAN communication to control various movements of the tool according to the preoperative plan. The orthopedic nail device further comprises a mounting interface, the orthopedic nail device can be mounted on a mechanical arm of the orthopedic surgery robot through the mounting interface, and intelligent semi-automatic orthopedic surgery operation is achieved.
Referring to fig. 6, a navigation surface 4 can be arranged on a clamping mechanism of a power drill mechanism of the orthopedic nail placing device, and can be arranged on a body of a speed reducer 11; the navigation surface 4 is provided with a visible light visual recognition tracking pattern which is matched with a binocular vision system. The binocular vision system is used for tracking the navigation surface on the intelligent orthopedics nail placing device and carrying out tracking and monitoring. 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 the components in the above embodiments, and the specific structures and the working principles are not described herein.
The application provides the driving force of the linear reciprocating motion of the power drill mechanism through the feeding mechanism, combines the driving control of the power drill driving device on the clamping mechanism, and mainly comprises a speed reducer 11 and a quick-release joint 110, which are used for clamping guide pins, reaming cones, screw taps or bone nails (such as pedicle screws) connected with an extender and the like required in the operation, so that the orthopedic implant operation is realized.
The above-mentioned embodiments are only preferred embodiments of the present application, and the scope of the present application is not limited thereto, and any equivalent transformation based on the technical solution of the present application falls within the scope of the present application.

Claims (10)

1. An orthopaedics nail placing device comprises a power drill mechanism and a feeding mechanism; the power drilling mechanism comprises a motor, and the motor is arranged on a motor mounting seat; the surgical tool is arranged on the power drill mechanism and is driven to rotate by the motor; the feeding mechanism comprises a base, a movable seat, a linear motor and a linear guide rail, wherein the movable seat, the linear motor and the linear guide rail are arranged on the base; the movable seat is connected with the power drill mechanism and a rotor of the linear motor, and the rotor of the linear motor drives the movable seat to drive the power drill mechanism to reciprocate along the linear guide rail so as to realize the feeding movement of the surgical tool; it is characterized in that the method comprises the steps of,
the motor mounting seat is connected with the moving seat through a guide rod and moves reciprocally along the linear guide rail together;
the power drill mechanism further comprises a speed reducer and a speed reducer mounting seat for supporting the speed reducer; the surgical tool is connected with an output shaft of the speed reducer; the rotation output of the motor of the power drill mechanism is transmitted to the speed reducer, and the operation tool is driven to rotate by the output shaft of 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 moves in a linear reciprocating mode along with the linear bearing.
2. The orthopedic nail placement device of claim 1, wherein,
two sliding blocks are arranged on the linear guide rail and are in sliding fit along the linear guide rail; the movable seat is arranged on one sliding block of the linear guide rail, and the motor mounting seat is arranged on the other sliding block and slides relatively along the linear guide rail together with the sliding block.
3. The orthopedic nail placement device of claim 1, wherein,
the feeding mechanism further comprises a pressure sensor for detecting the resistance force applied to the surgical tool in the pushing process; the pressure sensor is arranged between the movable seat and the power drilling mechanism;
and a limit switch is also arranged on the feeding mechanism and/or the power drill mechanism, and the movement position of the power drill mechanism is detected or limited.
4. The orthopedic nail placement device of claim 1, wherein,
the power drilling mechanism comprises a speed increaser; the speed increaser is arranged on the speed reducer and is used for clamping the surgical tool;
an output shaft of the speed reducer is connected with an input shaft of the speed increaser, so that the effect of speed increase is realized;
the speed increaser is provided with a drill chuck which clamps the operation tool; the drill chuck is coaxially connected with an output shaft of the speed increaser;
the speed reducer is provided with a quick-release connector for clamping the surgical tool; the quick-release connector is connected with the output shaft of the speed reducer and is used for detachably clamping the surgical tool;
when the orthopedic nailing device performs guide pin insertion, a speed increaser and a speed reducer are sequentially connected to realize high-rotation-speed output; when reaming, tapping and nailing operations are performed, a speed reducer is used for realizing low-rotation-speed and high-torque output.
5. The orthopedic nail placement device of claim 1, wherein,
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 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 a surgical tool to rotate; the motor drives the torque sensor mandrel to rotate, and the torque sensor detects the torque;
the movable seat is provided with a shaft hole; the other end of the mandrel of the torque sensor passes through the shaft hole on the movable seat and is connected with the input shaft of the speed reducer.
6. The orthopedic stapling device of claim 1, further comprising a catheter mechanism; the conduit mechanism is arranged at the front end of the bottom plate;
the catheter mechanism comprises a catheter, a catheter locking seat and a catheter 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 also comprises an up-down 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 up-down adjusting seat can move up and down relative to the adjusting base to adjust the height and position.
7. The orthopedic stapling device of claim 1, 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 arranged at the front end of the feeding mechanism and is connected with the computing equipment or the control center; the power drill mechanism is provided with a navigation surface, the navigation surface is provided with a visible light visual identification tracking pattern matched with the binocular visual camera, and the navigation surface is tracked by the binocular visual camera for tracking and monitoring;
the orthopedic nailing device further comprises a control circuit which is electrically and communicatively connected with the computing equipment and/or the control center.
8. The orthopedic nail device according to claim 1-7, wherein,
the orthopedic nail placement device further comprises a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism comprises a fixing 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 installation block is arranged on the fixed support; one end of the at least one pair of connecting rods is movably connected with the connecting rod mounting block, and the other end of the at least one pair of connecting rods is connected with the clamping block; the pair of clamping blocks are locked together by the fastener to clamp and fix the guide pin.
9. The orthopedic nail device of claim 8, wherein,
the guide pin fixing mechanism comprises a pair of long connecting rods and a pair of short connecting rods; each end of a pair of long connecting rods is rotatably arranged at two sides of the connecting rod installation block respectively; each end of a pair of short connecting rods is rotatably arranged at two sides of the connecting rod mounting seat respectively; the other ends of the long connecting rod and the short connecting rod are fixedly connected to a clamping block; the guide pin is clamped between the pair of clamping blocks by tightening the screw by hand.
10. An orthopedic implant surgery operation system, characterized in that the system comprises an orthopedic implant device according to any one of claims 1-9 and a computing device and/or a control center connected to the orthopedic implant device; the computing equipment and/or the control center comprises a processor and a storage medium, so that information of the orthopedic nailing device is acquired for information processing and function control of the orthopedic nailing device is performed.
CN202310902052.7A 2021-07-16 2021-07-16 Orthopedic nail placement device and orthopedic operation system Pending CN116784929A (en)

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