CN117045338B - Mark nail fixing and disassembling integrated device and navigation system - Google Patents
Mark nail fixing and disassembling integrated device and navigation system Download PDFInfo
- Publication number
- CN117045338B CN117045338B CN202311295626.5A CN202311295626A CN117045338B CN 117045338 B CN117045338 B CN 117045338B CN 202311295626 A CN202311295626 A CN 202311295626A CN 117045338 B CN117045338 B CN 117045338B
- Authority
- CN
- China
- Prior art keywords
- nail
- marking
- sleeve
- head
- knocking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003550 marker Substances 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 28
- 238000001179 sorption measurement Methods 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 66
- 239000010959 steel Substances 0.000 claims description 66
- 241000587161 Gomphocarpus Species 0.000 claims description 62
- 241001136800 Anas acuta Species 0.000 claims description 3
- 238000004026 adhesive bonding Methods 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000000605 extraction Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010079 rubber tapping Methods 0.000 description 11
- 238000009434 installation Methods 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
-
- 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
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Portable Nailing Machines And Staplers (AREA)
Abstract
The invention provides a mark nail fixing and detaching integrated device and a navigation system, wherein the mark nail fixing and detaching integrated device comprises: the device comprises a marking nail, a connecting rod, a clamping nail unit, an external unit and a knocking handle assembly. The device provided by the invention is simple to operate and convenient to use, and the rotary external unit and the knocking external unit can be mutually switched by assembling and disassembling the knocking handle assembly, so that the marking nails can be driven in and taken out in a plurality of modes, and the use habits of different doctors are met. Meanwhile, when the marking nails are connected and fixed with the device, the device also comprises limiting parts for clamping the nail units except for the effect of magnetic adsorption, so that the marking nails cannot fall off in the circulating impact process. In addition, the calibration device in the navigation system provided by the invention can track and calibrate the relative position of the marker nail, and realize parameterized tracking, standardization and repeatability of the movement process of the marker nail.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a marking nail fixing and detaching integrated device and a navigation system.
Background
In the age of aging population, a large number of patients need joint replacement surgery each year due to joint wear, aging and other reasons. Regarding the fixation and disassembly of the marking nail in the operation, a doctor usually uses a specific wrench to screw in or strike the rod into, and then uses a specific wrench to screw out or strike the rod out to pull out, so that the current marking nail is more complex in the use process, different tools are required to be matched in the driving and taking out processes, the operation is difficult, and the operation cost is increased.
Patent CN112807055a discloses a bone cutting verification mark nail and a matched integrated driving and taking-out device, which can realize the rapid fixation of a screw and the device through the principle of magnetic adsorption, and can drive the mark nail into bones through a striking rod, and meanwhile, the taking-out of the mark nail can be realized through the difference between the lace shape of the inner six sides of the upper joint and the hexagonal shape of the inner six sides of the lower joint. However, the process of driving and taking out the marking nails is divided into two steps: the driving process needs to drive the part of the marking nail without threads through the striking rod, and then manually apply a rotating force to drive the part of the marking nail with threads; the screw-threaded part of the marking nail needs to be taken out by manually applying a rotating force in the taking-out process, and then the screw-unthreaded part of the marking nail needs to be taken out by the striking rod, so that the process is troublesome and the operation is inconvenient. In addition, in the process of taking out and driving in, the whole device is easy to drop due to the cyclic impact process, and finally, the driving-in and taking-out device designed by the patent is large in volume and weight, so that the device is not beneficial to doctors to operate.
Disclosure of Invention
The invention aims to solve the defects of the prior art scheme described in the background art, and provides a marking nail fixing and detaching integrated device and a navigation system, which can realize the mutual switching of a rotary external unit and a knocking external unit by assembling and disassembling a knocking handle assembly. On the one hand, when the knocking handle component is not installed, the external unit is rotated to apply a rotating force around the axial direction, so that the marking nail fixing and disassembling integrated device realizes the screwing-in and screwing-out of the marking nail; on the other hand, when the knocking handle assembly is installed, an axial external force is applied by knocking the external unit, so that the marking nail fixing and disassembling integrated device can realize the pulling out and driving in of the marking nail. In addition, when the marking nail is connected and fixed with the device, except the effect of magnetic adsorption, the device also comprises a limit for clamping the nail unit, so that the marking nail cannot fall off in the circular impact process.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: in a first aspect, the present invention provides an integrated device for fixing and removing a tag pin, the device comprising: the device comprises a marking nail, a connecting rod, a clamping nail unit, an external unit and a knocking handle assembly.
Further, the marking nail comprises a marking nail head, a marking nail embedding part and a marking position, wherein the marking nail head sequentially comprises a marking nail head upper section, a marking nail head middle section and a marking nail head lower section from top to bottom in the axis direction of the marking nail.
Further, the connecting rod comprises a main rod, a first boss and a main rod threaded hole.
Further, the clamping nail unit comprises a marking nail sleeve, a marking nail sleeve cover, a marking nail fixing head, a magnet, a first screw, a bearing piece, a first spring and a first steel ball.
Further, the external unit is fixed at one end of the connecting rod and is divided into a rotary external unit and a knocking external unit, and the rotary external unit and the knocking external unit can be mutually switched through assembling and disassembling the knocking handle assembly; on the other hand, when the knocking handle assembly is installed, an axial external force is applied by knocking the external unit, so that the marking nail fixing and disassembling integrated device can realize the pulling out and driving in of the marking nail.
Further, the clamping nail units are distributed at the other end of the connecting rod and used for connecting the connecting rod with the marking nails, and the external unit, the connecting rod and the clamping nail units are axially concentric.
Further, the cross section of the marking nail head of the marking nail is perpendicular to the axis of the marking nail, the cross section area of the middle section of the marking nail head is smaller than the cross section area of the upper section of the marking nail head, the cross section area of the upper section of the marking nail head is smaller than the cross section area of the lower section of the marking nail head, and the cross section shape of the upper section of the marking nail is a runway-shaped structure formed by four sides.
Further, the tag pin insert includes a tag pin thread insert and a tag pin tail section.
Further, the calibration position is located on the upper surface of the marking nail head and used for identifying a point location in a navigation system.
Further, the marking nail fixing head comprises a fixing head threaded hole, a first groove and a magnet groove which are positioned on one side end face of the marking nail fixing head, a nail head mounting groove and a second boss which are positioned on the other side end face of the marking nail fixing head, and a first steel ball groove and a first guide groove which are positioned on the side wall of the marking nail fixing head.
Further, the fixed head screw hole with the mobile jib screw hole shape of connecting rod one end is unanimous, first recess be used for with the first boss of connecting rod one end cooperatees, the magnet groove is used for installing magnet, the lateral wall of magnet is fixed on the inside wall in magnet groove through gluing, the pin head mounting groove with the shape of marking nail head upper segment is unanimous, is the runway-shaped structure that the four sides constitutes, first screw loops through the fixed head screw hole with the mobile jib screw hole realizes the fixed of marking nail fixed head, magnet and connecting rod.
Further, the marking nail sleeve is sleeved on the periphery of the marking nail fixing head, wherein the marking nail sleeve comprises a sleeve end face, a second groove, an inner wall groove, an imitation groove, a round hole and a second guide groove.
Further, the first spring and the first steel ball are installed in a first steel ball groove on the side wall of the marker nail fixing head, the first steel ball is subjected to radially outward acting force under the action of the first spring, so that the first steel ball abuts against the inner side of the marker nail sleeve and is limited to move in the inner wall groove space of the marker nail sleeve, when the first steel ball moves along the inner wall groove, the marker nail sleeve and the marker nail fixing head relatively rotate, and meanwhile, a second boss of the marker nail fixing head is limited to move in a second groove inside the marker nail sleeve, and therefore the angle of the marker nail sleeve and the marker nail fixing head is adjusted.
Further, the sleeve end face of the marking nail sleeve is fixedly connected with the marking nail sleeve cover in a welding mode, the end face of the other side of the marking nail sleeve is provided with a penetrating profiling groove, and the profiling groove is consistent with the section shape of the nail head mounting groove on the marking nail fixing head.
Further, the marking nail sleeve cover is rotated to enable the marking nail sleeve cover to rotate relative to the connecting rod, and then the marking nail sleeve is driven to rotate relative to the connecting rod, when the direction of the profiling groove of the marking nail sleeve is consistent with that of the nail head mounting groove of the marking nail fixing head, the rotating external force is released, and the first steel ball abuts against the inner side of the marking nail sleeve under the acting force of the first spring, so that the marking nail sleeve and the marking nail fixing head are fixed.
Further, the marking nail head on the marking nail is made of magnetic materials, and after the upper section of the marking nail head passes through the profiling groove and is arranged in the nail head mounting groove of the marking nail fixing head, the clamping nail unit and the marking nail are quickly fixed and detached under the action of magnetic adsorption force between the magnet and the marking nail head; and continuously applying a rotating external force, wherein when the profiling groove of the marking nail sleeve is inconsistent with the direction of the nail head mounting groove of the marking nail fixing head, the marking nail cannot be separated from the nail head mounting groove of the clamping nail unit.
Further, the knocking handle assembly comprises a knocking handle, a handle sleeve, a handle cover, a second spring and a second steel ball, wherein the handle sleeve is sleeved on the periphery of the knocking handle, and the knocking handle, the handle sleeve and the handle cover are axially concentric.
Further, the knocking handle comprises a knocking part, a holding part and a knocking rod, wherein the knocking part is fixed at the middle position of one end of the holding part and protrudes out of the surface of the holding part.
Further, one end of the knocking rod is fixedly connected with the holding part, and the other end of the knocking rod is provided with a step-shaped mounting hole for being connected with the external unit.
Further, the periphery of the knocking rod is provided with a first end face and a second end face, the inside of the knocking rod is also provided with a steel ball hole for installing a second steel ball, and the second steel ball can move along the radial direction of the knocking rod.
Further, the third terminal surface, first inclined plane have been seted up to handle sleeve inside, the second spring is installed in handle sleeve with strike in the middle of the handle, one end butt third terminal surface, the other end butt second terminal surface, under the free state, the second spring is in the state of partial compression, under the spring force, the handle sleeve receives the force towards the handle lid all the time, this moment second steel ball part protrusion steel ball hole internal surface, radial activity space is little, when the handle sleeve is followed strike handle axial to move, third terminal surface and first inclined plane synchronous motion, the radial activity space of second steel ball changes, simultaneously the second spring stretches out and draws back.
Further, the groove is formed in the peripheral side of the external unit, when the handle sleeve moves towards the knocking position, the second spring is compressed again, the first inclined surface moves towards the knocking position, the radial moving space of the second steel ball is increased, the external unit is installed in the installation hole, the second steel ball moves outwards along the radial direction and does not protrude out of the inner surface of the steel ball hole, after the external unit is inserted into the installation hole, the handle sleeve is loosened, under the action of elastic force of the second spring, the handle sleeve is subjected to force towards the handle cover, the first inclined surface moves along the direction of the handle cover, so that the second steel ball moves inwards along the radial direction, and part of the second steel ball protrudes out of the inner surface of the steel ball hole and is clamped into the groove of the external unit, and the fixing of the knocking assembly and the external unit is achieved.
In a second aspect, the present invention further provides a navigation system, where the navigation system includes the above-mentioned integrated device for fixing and detaching a tag nail, and a calibration device, where the calibration device is used to track and calibrate a relative position of the tag nail in the integrated device for fixing and detaching the tag nail, so as to implement parameterization tracking, standardization, and repeatability of a moving process of the tag nail.
The invention provides a mark nail fixing and detaching integrated device and a navigation system, which have the following technical advantages compared with the prior art:
the operation is simple, the use is convenient, the marking nail driving and taking-out process does not need to be matched with a plurality of different tools, and the learning cost of doctors is reduced;
the rotary external unit and the knocking external unit can be mutually switched by assembling and disassembling the knocking handle assembly, on one hand, when the knocking handle assembly is not installed, the rotary external unit applies a rotary force around the axial direction, so that the marking nail fixing and disassembling integrated device realizes screwing-in and screwing-out of the marking nail; on the other hand, when the knocking handle assembly is installed, the external unit is knocked to apply an axial external force, so that the marking nail fixing and disassembling integrated device can realize the pulling out and driving in of the marking nail, and the use habit of different doctors can be met;
when the marking nails are connected and fixed with the device, the device also comprises a limit for clamping the nail units besides the effect of magnetic adsorption, so that the marking nails cannot fall off in the cyclic impact process;
the calibration device in the navigation system can track and calibrate the relative position of the marker nail, and parameterization tracking, standardization and repeatability of the movement process of the marker nail are realized.
Drawings
Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of a tag pin fixing and detaching integrated device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of an integrated staple fastening and removal device provided by an embodiment of the present invention;
FIG. 3 is a schematic view of an integrated staple fastening and removal device according to an embodiment of the present invention without a striking handle assembly;
FIG. 4 is an exploded view of an integrated staple fastening and removal device according to an embodiment of the present invention without a striking handle assembly;
FIG. 5 is a schematic view of a marker nail provided by an embodiment of the present invention at an angle;
FIG. 6 is a cross-sectional view of a marker nail provided by an embodiment of the present invention;
FIG. 7 is a schematic view of a staple fastening head at an angle according to an embodiment of the present invention;
FIG. 8 is a schematic view of a staple line fastening head at another angle provided by an embodiment of the present invention;
FIG. 9 is a schematic view of a marker nail sleeve provided by an embodiment of the present invention at an angle;
FIG. 10 is a schematic view of a marker nail sleeve provided by an embodiment of the present invention at another angle;
FIG. 11 is a schematic view of a non-conforming orientation of a simulated slot of a marker nail sleeve and a nail head mounting slot of a marker nail fixing head provided by an embodiment of the present invention;
FIG. 12 is an enlarged view of structure A of FIG. 2 provided by an embodiment of the present invention;
FIG. 13 is a schematic view of an integrated staple fastening and removal device according to an embodiment of the present invention with a striking handle assembly installed;
reference numerals illustrate: 1. marking nails; 2. a connecting rod; 3. a clamping nail unit; 4. an external unit; 5. knocking the handle assembly;
101. marking the nail head; 102. a tag pin embedding portion; 103. calibrating the position; 201. a main rod; 202. a first boss; 203. a main rod threaded hole; 301. marking a nail sleeve; 302. marking the cartridge cap; 303. marking a nail fixing head; 304. a magnet; 305. a first screw; 306. a bearing member; 307. a first spring; 308. a first steel ball; 401. a groove; 501. knocking a handle; 502. a handle sleeve; 503. a handle cover; 504. a second spring; 505. a second steel ball;
1011. marking the upper section of the nail head; 1012. marking the middle section of the nail head; 1013. marking the lower section of the nail head; 1021. a mark screw thread embedding part; 1022. marking a tail section; 3011. a sleeve end face; 3012. a second groove; 3013. an inner wall groove; 3014. a simulated groove; 3015. a round hole; 3016. a second guide groove; 3031. a fixed head threaded hole; 3032. a first groove; 3033. a magnet groove; 3034. a pin head mounting groove; 3035. a second boss; 3036. a first steel ball groove; 3037. a first guide groove; 5011. tapping part, 5012, holding part, 5013, tapping rod; 5014. a mounting hole; 5015. a first end face; 5016. a second end face; 5017. a steel ball hole; 5021. a third end face; 5022. a first inclined surface.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
In this context, it should also be noted that the terms "mounted," "connected," and "assembled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or defined otherwise; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
For a better understanding of the present invention, embodiments of the present invention are described in detail below with reference to the drawings.
As shown in fig. 1 and 2, the present invention provides a tag pin fixing and detaching integrated device, which includes: the device comprises a marking nail 1, a connecting rod 2, a clamping nail unit 3, an external unit 4 and a knocking handle assembly 5.
Wherein, the external unit 4 can be represented as a rotary external unit and a knocking external unit, which can be mutually switched by assembling and disassembling the knocking handle assembly 5, specifically: when the knocking handle component 5 is not installed, the external rotating unit is used for applying a rotating force around the axial direction, so that the marking nail fixing and detaching integrated device realizes the screwing-in and screwing-out of the marking nail; the external unit is knocked when the knocking handle assembly 5 is installed, and the external unit is knocked to apply an axial external force, so that the mark nail fixing and disassembling integrated device can realize the pulling out and driving in of the mark nail.
On the one hand, when the tag nail fixing and detaching integrated device is a rotary external unit, the specific structure is as follows:
as shown in fig. 3 and fig. 4, the peripheral side of the external unit 4 is provided with a groove 401, and is fixed at one end of the connecting rod 2, so that the external unit can be quickly fixed with the connecting rod 2 or can be in an integrated structure with the connecting rod 2. The clamping nail units 3 are distributed at the other end of the connecting rod 2 and used for connecting the connecting rod 2 with the marking nails 1, and the external unit 4, the connecting rod 2 and the clamping nail units 3 are axially concentric.
As shown in fig. 5, the marking nail 1 comprises a marking nail head 101, a marking nail embedding part 102 and a marking position 103, wherein the marking nail head 101 comprises an upper marking nail head section 1011, a middle marking nail head section 1012 and a lower marking nail head section 1013 from top to bottom in the axial direction of the marking nail.
As an alternative embodiment, the marking head 101 of the marking nail has a cross section perpendicular to the marking nail axis, the cross section area of the marking head middle section 1012 is smaller than the cross section area of the marking head upper section 1011, the cross section area of the marking head upper section 1011 is smaller than the cross section area of the marking head lower section 1013, and the cross section shape of the marking head upper section 1011 is a track-shaped structure formed by four sides.
As shown in fig. 6, the tag pin insert 102 includes a tag pin thread insert 1021 and a tag pin tail 1022, the tag pin insert preferably having a length of 10-20mm.
As an alternative embodiment, the calibration location 103 is located on the upper surface of the marking head 101 for identifying a point in a navigation system.
As shown in fig. 4, the connecting rod 2 includes a main rod 201, a first boss 202, and a main rod threaded hole 203.
As an alternative embodiment, the clamp pin unit 3 includes a tag pin sleeve 301, a tag pin sleeve cover 302, a tag pin fixing head 303, a magnet 304, a first screw 305, a bearing member 306, a first spring 307, and a first steel ball 308.
As shown in fig. 7 and 8, the tag pin fixing head 303 includes a fixing head screw hole 3031, a first recess 3032 and a magnet recess 3033 located at one side end surface of the tag pin fixing head, a pin head mounting recess 3034 located at the other side end surface of the tag pin fixing head, a second boss 3035, and a first steel ball recess 3036 and a first guide recess 3037 located at the side wall of the tag pin fixing head.
As an alternative embodiment, the shape of the fixing head threaded hole 3031 is consistent with that of the main rod threaded hole 203 at one end of the connecting rod, the first groove 3032 is used for matching with the first boss 202 at one end of the connecting rod, and both the first groove 3032 and the first boss 202 are hexagonal.
As an alternative embodiment, the first recess 3032 and the first boss 202 may have other shapes that can be matched with each other.
As an alternative embodiment, the magnet slot 3033 is used for installing the magnet 304, the outer side wall of the magnet 304 is fixed on the inner side wall of the magnet slot 3033 by gluing, the nail head installation slot 3034 and the upper section 1011 of the marking nail head are in a track-shaped structure formed by four sides, and the first screw 305 sequentially passes through the fixing head threaded hole 3031 and the main rod threaded hole 203, so as to fix the marking nail fixing head 303, the magnet 304 and the connecting rod 2.
As an alternative embodiment, the marker nail sleeve 301 is sleeved on the outer periphery of the marker nail fixing head 303.
As shown in fig. 9 and 10, the tag pin sleeve 301 includes a sleeve end face 3011, a second groove 3012, an inner wall groove 3013, a profiling groove 3014, a round hole 3015, and a second guide groove 3016, wherein the profiling groove 3014 is consistent with the cross-sectional shape of the pin head mounting groove 3034 on the tag pin fixing head.
As shown in fig. 12, the first spring 307 and the first steel ball 308 are installed in a first steel ball groove 3036 of the side wall of the tag pin fixing head, the first steel ball 308 is subjected to a radially outward force under the action of the first spring 307, so that the first steel ball 308 abuts against the inner side of the tag pin sleeve 301 and is limited to move in the space of an inner wall groove 3013 of the tag pin sleeve, when the first steel ball 308 moves along the inner wall groove 3013, the tag pin sleeve 301 and the tag pin fixing head 303 relatively rotate, and meanwhile, a second boss 3035 of the tag pin fixing head is limited to move in a second groove 3012 inside the tag pin sleeve, so that the angle adjustment of the tag pin sleeve 301 and the tag pin fixing head 303 is realized.
As an alternative embodiment, the sleeve end face 3011 of the marker sleeve is fixedly connected to the marker sleeve cap 302 by welding.
As an alternative embodiment, the sleeve end face 3011 of the marker sleeve and the marker sleeve cover 302 may also be fixedly connected by other means, such as by screw fastening.
As an alternative embodiment, the tag pin sleeve cover 302 is rotated to rotate relative to the connecting rod 2, so as to drive the tag pin sleeve 301 to rotate relative to the connecting rod 2, when the direction of the profiling groove 3014 of the tag pin sleeve is consistent with that of the pin head mounting groove 3034 of the tag pin fixing head, the external rotation force is released, and the first steel balls 308 abut against the inner side of the tag pin sleeve 301 under the action force of the first spring 307, so that the tag pin sleeve 301 and the tag pin fixing head 303 are fixed.
As an alternative embodiment, the marking nail head 101 on the marking nail is made of a magnetic material, and after the marking nail head upper section 1011 is installed in the nail head installation groove 3034 of the marking nail fixing head through the profiling groove 3014, the rapid fixing and dismounting of the clamping nail unit 3 and the marking nail 1 are realized under the action of the magnetic attraction force between the magnet 304 and the marking nail head 101.
As an alternative embodiment, when the external unit 4 is connected to an external power system, specifically, when the external power system is an electric drill, the electric drill drives the external unit 4 to rotate, so as to drive the connecting rod 2, the tag nail fixing head 3, the tag nail sleeve 301 and the tag nail 1 to rotate, thereby realizing screwing in or screwing out of the tag nail.
On the other hand, when the external unit 4 of the tag nail fixing and detaching integrated device is provided with the knocking handle assembly 5, the external unit is converted into a knocking external unit, and the concrete structure is as follows:
as an alternative embodiment, as shown in fig. 2 and 13, the tapping handle assembly 5 includes a tapping handle 501, a handle sleeve 502, a handle cover 503, a second spring 504, and a second steel ball 505, wherein the handle sleeve 502 is sleeved on the periphery of the tapping handle 501 and is movable along the axial direction of the tapping handle 501, and the tapping handle 501, the handle sleeve 502, and the handle cover 503 are axially concentric.
As an alternative embodiment, the tapping handle 501 includes a tapping portion 5011, a holding portion 5012, and a tapping rod 5013, wherein the tapping portion 5011 is fixed at a middle position of one end of the holding portion 5012 and protrudes from a surface of the holding portion 5012.
As an alternative embodiment, one end of the striking rod 5013 is fixedly connected to the holding portion 5012, and the other end is provided with a stepped mounting hole 5014 for connecting to the external unit 4.
As an alternative embodiment, the knocking rod 5013 has a first end face 5015 and a second end face 5016 on the outer periphery thereof, and a steel ball hole 5017 is also formed inside, and the second steel ball 505 is mounted in the steel ball hole 5017 and can move along the radial direction of the knocking rod 5013.
As an alternative embodiment, the handle sleeve 502 is internally provided with a third end surface 5021 and a first inclined surface 5022, the second spring 504 is installed between the handle sleeve 502 and the striking handle 501, one end of the second spring 504 abuts against the third end surface 5021, the other end of the second spring 504 abuts against the second end surface 5016, in a free state, the second spring 504 is in a partially compressed state, the handle sleeve 502 is always subjected to a force towards the handle cover 503 under the action of a spring force, at this time, the second steel ball 505 is partially protruded out of the inner surface of the steel ball hole 5017, the radial movement space is small, when the handle sleeve 502 moves along the axial direction of the striking handle 501, the third end surface 5021 and the first inclined surface 5022 move synchronously, the radial movement space of the second steel ball 505 changes, and meanwhile the second spring 504 stretches.
As an alternative embodiment, when the handle sleeve 502 moves towards the striking position 5011, the second spring 504 is compressed again, the first inclined plane 5022 also moves towards the striking position, the radial movement space of the second steel ball 505 increases, during the process of loading the external unit 4 into the mounting hole 5014, the second steel ball 505 moves outwards along the radial direction and does not protrude out of the inner surface of the steel ball hole 5017, when the external unit 4 is inserted into the mounting hole 5014, the handle sleeve 502 is released, under the action of the elastic force of the second spring 504, the handle sleeve 502 is subjected to the force towards the handle cover 503, and the first inclined plane 5022 moves along the direction of the handle cover 503, so that the second steel ball 505 moves inwards along the radial direction, and partially protrudes out of the inner surface of the steel ball hole 5017 and is blocked into the groove 401 of the external unit, thereby realizing the fixation of the handle assembly 5 and the external unit 4.
At this time, a rotating external force is applied to the tag pin sleeve cover 302 to drive the tag pin sleeve 301 to rotate, when the direction of the profiling groove 3014 of the tag pin sleeve is inconsistent with the direction of the nail head mounting groove 3034 of the tag pin fixing head, as shown in fig. 11, the tag pin 1 cannot be separated from the nail head mounting groove 3034 of the clamping pin unit 3, and at this time, when the knocking part 5011 of the knocking handle is pulled along the axial direction or knocked by using a knocking hammer, the pulling or driving of the tag pin can be realized.
When the knocking handle assembly 5 needs to be disassembled, the handle sleeve 502 only needs to move towards the knocking position 5011 again, the second spring 504 is compressed again, the first inclined plane 5022 also moves towards the knocking position, the radial moving space of the second steel ball 505 is increased, when the second steel ball 505 does not protrude out of the inner surface of the mounting hole 5017, the external unit 4 is withdrawn out of the mounting hole 5014, the knocking handle assembly 5 can be disassembled, and then the knocking external unit is converted into a rotary external unit.
The invention also provides a navigation system which comprises the marking nail fixing and detaching integrated device and a calibration device, wherein the calibration device is used for tracking and calibrating the relative positions of the marking nails in the marking nail fixing and detaching integrated device so as to realize parameterization tracking, standardization and repeatability of the marking nail moving process.
The invention provides a mark nail fixing and detaching integrated device and a navigation system, which have the following technical advantages compared with the prior art:
the operation is simple, the use is convenient, the marking nail driving and taking-out process does not need to be matched with a plurality of different tools, and the learning cost of doctors is reduced;
the rotary external unit and the knocking external unit can be mutually switched by assembling and disassembling the knocking handle assembly, on one hand, when the knocking handle assembly is not installed, the rotary external unit applies a rotary force around the axial direction, so that the marking nail fixing and disassembling integrated device realizes screwing-in and screwing-out of the marking nail; on the other hand, when the knocking handle assembly is installed, the external unit is knocked to apply an axial external force, so that the marking nail fixing and disassembling integrated device can realize the pulling out and driving in of the marking nail, and the use habit of different doctors can be met;
when the marking nails are connected and fixed with the device, the device also comprises a limit for clamping the nail units besides the effect of magnetic adsorption, so that the marking nails cannot fall off in the cyclic impact process;
the calibration device in the navigation system can track and calibrate the relative position of the marker nail, and parameterization tracking, standardization and repeatability of the movement process of the marker nail are realized.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (4)
1. The utility model provides a mark nail is fixed and dismantles integrated device which characterized in that includes: the device comprises a marking nail (1), a connecting rod (2), a clamping nail unit (3), an external unit (4) and a knocking handle assembly (5);
the marking nail comprises a marking nail head (101), a marking nail embedding part (102) and a marking position (103), wherein the marking nail head (101) comprises a marking nail head upper section (1011), a marking nail head middle section (1012) and a marking nail head lower section (1013) from top to bottom in sequence in the axis direction of the marking nail; the connecting rod (2) comprises a main rod (201), a first boss (202) and a main rod threaded hole (203); the clamping nail unit (3) comprises a marking nail sleeve (301), a marking nail sleeve cover (302), a marking nail fixing head (303), a magnet (304), a first screw (305), a bearing piece (306), a first spring (307) and a first steel ball (308);
the external unit (4) is fixed at one end of the connecting rod (2), the external unit (4) is divided into a rotary external unit and a knocking external unit, and the rotary external unit and the knocking external unit can be mutually switched through assembling and disassembling the knocking handle assembly (5), on one hand, when the knocking handle assembly (5) is not installed, the rotary external unit is used for applying a rotation force around the axial direction, so that the marking nail fixing and disassembling integrated device realizes screwing-in and screwing-out of the marking nail; on the other hand, when the knocking handle assembly (5) is installed, an axial external force is applied by knocking the external unit, so that the marking nail fixing and disassembling integrated device realizes the extraction and the driving of the marking nail; the clamping nail units (3) are distributed at the other end of the connecting rod (2) and are used for connecting the connecting rod (2) with the marking nails (1), and the external unit (4), the connecting rod (2) and the clamping nail units (3) are axially concentric;
the marking nail fixing head (303) comprises a fixing head threaded hole (3031), a first groove (3032) and a magnet groove (3033) which are positioned on one side end face of the marking nail fixing head, a nail head mounting groove (3034) positioned on the other side end face of the marking nail fixing head, a second boss (3035) and a first steel ball groove (3036) positioned on the side wall of the marking nail fixing head; the shape of the fixing head threaded hole (3031) is consistent with that of the main rod threaded hole (203) at one end of the connecting rod, the first groove (3032) is used for being matched with the first boss (202) at one end of the connecting rod, the magnet groove (3033) is used for installing a magnet (304), the outer side wall of the magnet is fixed on the inner side wall of the magnet groove through gluing, the nail head mounting groove (3034) and the upper section (1011) of the marking nail head are both in runway-shaped structures formed by four sides, and the first screw (305) sequentially passes through the fixing head threaded hole (3031) and the main rod threaded hole (203) to fix the marking nail fixing head (303), the magnet (304) and the connecting rod (2);
the marking nail sleeve (301) is sleeved on the periphery of the marking nail fixing head (303), wherein the marking nail sleeve (301) comprises a sleeve end face (3011), a second groove (3012), an inner wall groove (3013) and a profiling groove (3014);
the first spring (307) and the first steel ball (308) are arranged in a first steel ball groove (3036) on the side wall of the marking nail fixing head, the first steel ball (308) is subjected to radially outward acting force under the action of the first spring (307), so that the first steel ball (308) abuts against the inner side of the marking nail sleeve (301) and is limited to move in the space of an inner wall groove (3013) of the marking nail sleeve, when the first steel ball (308) moves along the inner wall groove (3013), the marking nail sleeve (301) and the marking nail fixing head (303) rotate relatively, and simultaneously, a second boss (3035) of the marking nail fixing head is limited to move in a second groove (3012) inside the marking nail sleeve, so that the angle adjustment of the marking nail sleeve (301) and the marking nail fixing head (303) is realized;
the end face (3011) of the marking nail sleeve is fixedly connected with the marking nail sleeve cover (302) in a welding mode, the end face on the other side of the marking nail sleeve (301) is provided with a penetrating profiling groove (3014), and the profiling groove (3014) is consistent with a nail head mounting groove (3034) on the marking nail fixing head in cross section;
rotating the marking nail sleeve cover (302) to enable the marking nail sleeve cover to rotate relative to the connecting rod (2), further driving the marking nail sleeve (301) to rotate relative to the connecting rod (2), loosening the rotating external force when the profiling groove (3014) of the marking nail sleeve is consistent with the direction of the nail head mounting groove (3034) of the marking nail fixing head, and enabling the first steel ball (308) to abut against the inner side of the marking nail sleeve (301) under the acting force of the first spring (307) so as to fix the marking nail sleeve (301) and the marking nail fixing head (303); the marking nail head (101) on the marking nail is made of magnetic materials, and after the upper section (1011) of the marking nail head passes through the profiling groove (3014) and is arranged in the nail head mounting groove (3034) of the marking nail fixing head, the clamping nail unit (3) and the marking nail (1) are quickly fixed and detached under the action of magnetic adsorption force between the magnet (304) and the marking nail head (101); continuously applying a rotation external force, wherein when the profiling groove (3014) of the marking nail sleeve is inconsistent with the direction of the nail head mounting groove (3034) of the marking nail fixing head, the marking nail (1) cannot be separated from the nail head mounting groove (3034) of the clamping nail unit (3);
the knocking handle assembly (5) comprises a knocking handle (501), a handle sleeve (502), a handle cover (503), a second spring (504) and a second steel ball (505), wherein the handle sleeve (502) is sleeved on the periphery of the knocking handle (501), and the knocking handle (501), the handle sleeve (502) and the handle cover (503) are axially concentric; the knocking handle (501) comprises a knocking part (5011), a holding part (5012) and a knocking rod (5013), wherein the knocking part (5011) is fixed at the middle position of one end of the holding part (5012) and protrudes out of the surface of the holding part (5012); one end of the knocking rod (5013) is fixedly connected with the holding part (5012), and the other end of the knocking rod is provided with a step-shaped mounting hole (5014) for being connected with the external unit (4); the periphery of the knocking rod (5013) is provided with a first end face (5015) and a second end face (5016), the inside of the knocking rod is also provided with a steel ball hole (5017) for installing a second steel ball (505), and the second steel ball (505) can move along the radial direction of the knocking rod (5013);
the novel handle is characterized in that a third end face (5021) and a first inclined face (5022) are arranged inside the handle sleeve (502), the second spring (504) is installed in the middle of the handle sleeve (502) and the knocking handle (501), one end of the second spring is abutted to the third end face (5021), the other end of the second spring is abutted to the second end face (5016), the second spring (504) is in a partially compressed state under the free state, the handle sleeve (502) is always subjected to force towards the handle cover (503) under the action of a spring force, at the moment, the second steel ball (505) is partially protruded out of the inner surface of the steel ball hole (5017), the radial movable space is small, and when the handle sleeve (502) moves along the axial direction of the knocking handle (501), the third end face (5021) and the first inclined face (5022) synchronously move, and the radial movable space of the second steel ball (505) is changed, and meanwhile the second spring (504) stretches.
2. The integrated device for fixing and detaching a marking nail according to claim 1, wherein the marking nail head (101) of the marking nail is in a cross section perpendicular to the marking nail axis, the cross section area of the marking nail head middle section (1012) is smaller than the cross section area of the marking nail head upper section (1011), the cross section area of the marking nail head upper section (1011) is smaller than the cross section area of the marking nail head lower section (1013), and the cross section shape of the marking nail head upper section (1011) is a track-shaped structure formed by four sides; the marking pin embedding part (102) comprises a marking pin thread embedding part (1021) and a marking pin tail section (1022); the calibration position (103) is positioned on the upper surface of the marking nail head (101) and is used for identifying a point position in a navigation system.
3. The integrated device for fixing and detaching the marking pin according to claim 1, wherein the external unit (4) is provided with a groove (401) at the periphery, when the handle sleeve (502) moves towards the knocking part (5011), the second spring (504) is compressed again, the first inclined surface (5022) also moves towards the knocking part, the radial movement space of the second steel ball (505) is increased, the second steel ball (505) moves outwards along the radial direction in the process of installing the external unit (4) into the installing hole (5014), and does not protrude out of the inner surface of the steel ball hole (5017), when the external unit (4) is inserted into the installing hole (5014), the handle sleeve (502) is loosened, under the action of the elastic force of the second spring (504), the handle sleeve (502) is subjected to the force towards the handle cover (503), the first inclined surface (5022) moves along the direction of the handle cover (503), so that the second steel ball (505) moves outwards along the radial direction, protrudes out of the installing hole (5014), and is clamped into the inner surface of the external unit (5017), and the external unit (5015) is fixed to the external unit (5015).
4. A navigation system comprising the integrated device for fixing and detaching a marker nail according to any one of claims 1 to 3 and a calibration device, wherein the calibration device is used for tracking and calibrating the relative position of the marker nail in the integrated device for fixing and detaching the marker nail, so as to realize parameterization tracking, standardization and repeatability of the movement process of the marker nail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311295626.5A CN117045338B (en) | 2023-10-09 | 2023-10-09 | Mark nail fixing and disassembling integrated device and navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311295626.5A CN117045338B (en) | 2023-10-09 | 2023-10-09 | Mark nail fixing and disassembling integrated device and navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117045338A CN117045338A (en) | 2023-11-14 |
| CN117045338B true CN117045338B (en) | 2024-01-09 |
Family
ID=88661161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311295626.5A Active CN117045338B (en) | 2023-10-09 | 2023-10-09 | Mark nail fixing and disassembling integrated device and navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117045338B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1486863A (en) * | 1975-04-15 | 1977-09-28 | Eby J | Fastener holding attachment for a fastener-driving tool |
| CH619855A5 (en) * | 1977-01-25 | 1980-10-31 | Heves Megyei Finommech | Surgical kit for driving-in or pulling-out medullary canal pins |
| EP0321440A2 (en) * | 1987-12-18 | 1989-06-21 | Friedrich Stich | Method and device for driving nails |
| CN110584771A (en) * | 2019-09-24 | 2019-12-20 | 西安交通大学医学院第二附属医院 | Loosening and disassembling device for orthopedic screws and method for loosening and disassembling orthopedic screws based on loosening and disassembling device |
| CN112807055A (en) * | 2021-02-04 | 2021-05-18 | 上海交通大学医学院附属第九人民医院 | Osteotomy verification mark nail and matched integrated driving-in and taking-out device thereof |
| CN113081159A (en) * | 2021-04-02 | 2021-07-09 | 上海电气集团股份有限公司 | Marking nail for osteotomy |
| CN214907669U (en) * | 2020-12-16 | 2021-11-30 | 杭州柳叶刀机器人有限公司 | Device for grinding and knocking in robot-assisted hip joint replacement |
| CN114983513A (en) * | 2022-05-30 | 2022-09-02 | 上海电气集团股份有限公司 | Orthopaedics marking embedding positioning piece, matched mounting tool, marking assembly and orthopaedics marking method |
| CN219021482U (en) * | 2022-10-25 | 2023-05-16 | 北京大学第三医院（北京大学第三临床医学院） | Pedicle screw placement instrument and pedicle screw system |
| CN219397545U (en) * | 2023-01-19 | 2023-07-25 | 北京纳通医用机器人科技有限公司 | Marking nail spanner for orthopedic operation and robot auxiliary equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20309058U1 (en) * | 2003-06-11 | 2003-09-04 | stryker Trauma GmbH, 24232 Schönkirchen | Combination of intramedular nail under a target and / or impact instrument |
| JP6816855B2 (en) * | 2014-12-24 | 2021-01-20 | 富士富株式会社 | Driving type screw nail |
-
2023
- 2023-10-09 CN CN202311295626.5A patent/CN117045338B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1486863A (en) * | 1975-04-15 | 1977-09-28 | Eby J | Fastener holding attachment for a fastener-driving tool |
| CH619855A5 (en) * | 1977-01-25 | 1980-10-31 | Heves Megyei Finommech | Surgical kit for driving-in or pulling-out medullary canal pins |
| EP0321440A2 (en) * | 1987-12-18 | 1989-06-21 | Friedrich Stich | Method and device for driving nails |
| CN110584771A (en) * | 2019-09-24 | 2019-12-20 | 西安交通大学医学院第二附属医院 | Loosening and disassembling device for orthopedic screws and method for loosening and disassembling orthopedic screws based on loosening and disassembling device |
| CN214907669U (en) * | 2020-12-16 | 2021-11-30 | 杭州柳叶刀机器人有限公司 | Device for grinding and knocking in robot-assisted hip joint replacement |
| CN112807055A (en) * | 2021-02-04 | 2021-05-18 | 上海交通大学医学院附属第九人民医院 | Osteotomy verification mark nail and matched integrated driving-in and taking-out device thereof |
| CN113081159A (en) * | 2021-04-02 | 2021-07-09 | 上海电气集团股份有限公司 | Marking nail for osteotomy |
| CN114983513A (en) * | 2022-05-30 | 2022-09-02 | 上海电气集团股份有限公司 | Orthopaedics marking embedding positioning piece, matched mounting tool, marking assembly and orthopaedics marking method |
| CN219021482U (en) * | 2022-10-25 | 2023-05-16 | 北京大学第三医院（北京大学第三临床医学院） | Pedicle screw placement instrument and pedicle screw system |
| CN219397545U (en) * | 2023-01-19 | 2023-07-25 | 北京纳通医用机器人科技有限公司 | Marking nail spanner for orthopedic operation and robot auxiliary equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117045338A (en) | 2023-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5265196B2 (en) | Bone plate with pre-assembled drill guide tip | |
| US8414594B2 (en) | Magazine for receiving at least one bone screw and bone plate having such a magazine | |
| JP4593564B2 (en) | Guide wire positioning means for insertion of artificial hip joint surface replacement device | |
| US6286401B1 (en) | Screwdriver with holding feature for socket head screws | |
| JPH07115309B2 (en) | Fastener driving tool with improved adjustable tool actuation structure | |
| JP4926668B2 (en) | Compressor | |
| CN117045338B (en) | Mark nail fixing and disassembling integrated device and navigation system | |
| JP2014514171A (en) | Removable tubular holding member | |
| JP2013152143A (en) | Striking device and internal state inspection device | |
| KR101838777B1 (en) | Apparatus and method for locating a nut on a blind side of a fastener hole | |
| US20130074657A1 (en) | Wrench with expanding tip assembly | |
| KR20200082384A (en) | Drilling guide mechanism of freely locked fixation system for orthopedic implants capable of drill depth measurement | |
| CN202313682U (en) | Axial moving fixator with two claws | |
| CN112807055A (en) | Osteotomy verification mark nail and matched integrated driving-in and taking-out device thereof | |
| US20160121469A1 (en) | Nut Driving Cleaning System | |
| EP2361728A2 (en) | A tool for installing rivet nuts | |
| CN203873867U (en) | Universal stem holder | |
| CN113208695A (en) | Accurate-positioning reduction fixing forceps for traumatic orthopedics department | |
| CN113125336B (en) | Zither artificial nail testing device | |
| CN211094635U (en) | Screwdriver capable of absorbing bone nail | |
| CN218979172U (en) | Nail extractor for orthopaedics | |
| CN201201032Y (en) | Tool for riveting screw loose core rivet | |
| CN214805331U (en) | Special accurate sleeve assembly for orthopedic surgery robot | |
| CN210811336U (en) | Bone nail | |
| JP2001212151A (en) | Punch stopper for bone operation and punch for bone operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |