CN212308004U

CN212308004U - Screw placing system and pedicle screw placing device

Info

Publication number: CN212308004U
Application number: CN202021302956.4U
Authority: CN
Inventors: 朱圣晓; 施林志; 陈嘉瑞; 张涛
Original assignee: Shenzhen Xinjunte Smart Medical Equipment Co ltd
Current assignee: Shenzhen Xinjunte Smart Medical Equipment Co ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2021-01-08
Anticipated expiration: 2030-07-06

Abstract

This application pedicle of vertebral arch puts nail device includes the bone drill mechanism, and with the bone drill mechanism is connected and is used for producing the degree of depth advancing mechanism of straight reciprocating motion variable, the bone drill mechanism includes that the bone bores drive arrangement and bores drive arrangement by the bone and connect driven fixture. This application provides through degree of depth advancing mechanism the drive power of bone drill mechanism straight reciprocating motion combines bone drill drive arrangement to fixture's drive control, fixture is arranged in required guide pin, reaming awl, screw tap and pedicle of vertebral arch screw etc. in the centre gripping operation to put the nail operation in realizing the operation, improve operation efficiency and put the nail precision, avoid bare-handed in the past to put possible unexpected injury in the nail. The pedicle screw placing system comprises the pedicle screw placing device, the binocular vision system and the connected computer, and the binocular vision system can track the operation condition of the intelligent pedicle screw placing device and perform tracking monitoring.

Description

Screw placing system and pedicle screw placing device

[ technical field ] A method for producing a semiconductor device

The application relates to the technical field of medical instruments, in particular to a semi-automatic screw placing system for placing pedicle screws in orthopedic surgery and a pedicle screw placing device thereof.

[ background of the invention ]

The pedicle screw placing operation is a common operation, the pedicle screws play an important role in treatment aspects such as spinal trauma reduction, deformity correction and the like, and the key to successful pedicle screw internal fixation operation lies in whether the screws can be accurately placed through the pedicles without damaging the neural vertebral bodies.

At present, no automatic or semi-automatic pedicle screw setting tool which can be directly used for an orthopedic surgery robot exists. The currently known orthopedic robot is only used for navigation and positioning to a focus, and a doctor places a nail by hands; or the screw is manually inserted by matching with an orthopedic electric drill. When a doctor taps and nails by hands, the doctor needs to pay large physical strength, and because the hardness of cortical bones is high, the doctor often needs to knock in by means of tools such as hammers when reaming by hands, and the operation causes large impact force to the human body, so that accidental injury is easy to occur; furthermore, the last tightening torque cannot be effectively controlled when the screw is screwed in manually. When the low-speed bone drill is used for tapping and nailing, a doctor lacks the hand feeling of free-hand screwing, and is difficult to judge whether the screw is in place; the navigation mark frame is added at the tool end of a screw tap, a low-speed bone drill and the like, although the position of the tool tip in the bone can be tracked in real time, due to human reaction, physiological fatigue and the like, a delay condition exists, and the depth is not accurate enough.

Therefore, it is necessary to provide a pedicle screw-placing device which is convenient and easy to operate, has accurate screw-placing position, can improve the operation efficiency and reduce the operation injury.

[ summary of the invention ]

The medical screw placing system and the pedicle screw placing device are convenient and easy to operate and accurate in screw placing position.

In order to realize the purpose of the application, the following technical scheme is provided:

the pedicle screw placing device comprises a bone drill mechanism and a depth pushing mechanism which is connected with the bone drill mechanism and used for generating linear reciprocating motion variables, wherein the bone drill mechanism comprises a bone drill driving device and a clamping mechanism which is connected and driven by the bone drill driving device. This application provides through degree of depth advancing mechanism the drive power of bone drill mechanism straight reciprocating motion combines bone drill drive arrangement to fixture's drive control, fixture is arranged in required guide pin, reaming awl, screw tap and pedicle of vertebral arch screw etc. in the centre gripping operation to put the nail operation in realizing the operation, improve operation efficiency and put the nail precision, avoid bare-handed in the past to put possible unexpected injury in the nail.

In some embodiments, the depth advancing mechanism may be implemented by including a screw assembly, a moving platform, and a driving motor for driving the screw assembly, the screw assembly includes a ball screw and a screw nut, the driving motor is connected to and drives the ball screw, so that the screw nut and the ball screw generate a linear reciprocating relative motion, the screw nut is connected to the moving platform, and the bone drill mechanism is mounted on the moving platform.

In some embodiments, the depth advancing mechanism further comprises a linear guide rail and a slide block, the slide block can perform linear reciprocating relative motion along the linear guide rail, the relative position of the ball screw and the linear guide rail is fixed, and the screw nut is fixed on the slide block. Specifically, the depth propelling mechanism further comprises a coupler, and the driving motor drives the ball screw through the coupling to do linear reciprocating motion. In some specific embodiments, the depth advancing mechanism further includes a bottom plate, the linear guide rail is fixedly mounted to the bottom plate, a bearing is disposed on the bottom plate, and the ball screw is mounted in the bearing. In some embodiments, the depth advancement mechanism further comprises a platform connector secured to the lead screw nut, the mobile platform being mounted on the platform connector.

In other embodiments, the depth advancement mechanism may generate the linear reciprocating motion variable in a manner other than a lead screw assembly, such as by directly driving a linkage member, which is used to connect the bone drill mechanism, to linearly reciprocate along a slide rail via a drive motor. And the motion displacement detection can be carried out through a sensor, and the movement precision is controlled through a computer.

Further, in some embodiments, the pedicle screw device further comprises a pressure sensor and a buffer spring disposed between the bone drill mechanism and the moving platform of the depth advancement mechanism. The pressure sensor can measure the pressure in real time, and can measure the resistance of the nail placing tool in each nail placing procedure in the propelling process, thereby avoiding the occurrence of surgical accidents. The spring is used for adjusting the micro displacement difference generated during nail placement. Specifically, the pressure sensor can be fixed on the mobile platform, and different degrees of displacement of the mechanism mounting base relative to the mobile platform generate different pressures on the pressure sensor to display different corresponding readings.

In some embodiments, the bone drill mechanism further comprises a mechanism mount and a cross roller guide, the bone drill drive and the clamping mechanism are mounted on the mechanism mount, the cross roller guide is coupled to a mobile platform on the depth advancement mechanism, and the bone drill drive and the clamping mechanism are coupled to the mobile platform through the mechanism mount and the cross roller guide. In an embodiment, the bone drill driving device adopted by the bone drill mechanism is a bone drill motor.

In some embodiments, a torque sensor is further disposed between the bone drill drive device and the clamping mechanism. The torque sensor can accurately measure the torque of the pedicle screw in the whole implantation process, so that whether the screw is implanted in place or not is intelligently judged, and loosening of the screw in the pedicle due to lack of fastening and twisting and explosion of the pedicle are avoided.

In some embodiments, the clamping mechanism is a guide pin clamping mechanism, which includes a clamping mechanism body connected to the bone drill drive device and a drill chuck for clamping a guide pin. In some embodiments, the torque sensor is connected between the clamping mechanism body and the bone drill drive device. In a specific embodiment, the clamping mechanism body is connected with the torque sensor through a hand screw.

In some embodiments, the clamping mechanism is a multifunctional clamping mechanism, which comprises a clamping mechanism body and a quick-release connector, wherein the clamping mechanism body is connected with the bone drill driving device. The reaming cone, the tap and the screw driver can be quickly connected to the clamping mechanism through the quick-release connector. In some embodiments, the torque sensor is connected between the clamping mechanism body and the bone drill drive device. In a specific embodiment, the clamping mechanism body is connected with the torque sensor through a hand screw.

In some embodiments, the pedicle screw placing device further comprises a guide pin fixing mechanism for positioning the guide pin, the guide pin can be clamped in the processes of reaming, tapping and screwing, the guide pin is prevented from being brought in by screw placing tools such as a reaming cone and the like in the screw placing process, a cone is pierced, and other organs of a human body are injured. In some embodiments, the guide pin fixing mechanism includes a fixing member, an extension arm, and a clamp arm, the fixing member and the depth advancing mechanism are fixedly installed relatively, one end of the extension arm is installed on the fixing member, the clamp arm is installed at the other end of the extension arm through a connecting shaft, the clamp arm can rotate along the connecting shaft relative to the extension arm, and a clamping hole for clamping the guide pin is formed in the clamp arm.

In some embodiments, the guide pin fixing mechanism further includes an adjusting member disposed at one side of the connecting shaft and the clamping hole, respectively. The adjusting piece adopts screw-thread fit structure, and the adjusting piece of connecting axle department adjusts the depth through rotating to adjust the elasticity that the arm lock is connected and the angle of the relative extension arm of fixed arm lock, the adjusting piece of centre gripping hole one side adjusts the depth through rotating, thereby adjusts the elasticity of centre gripping guide pin.

In some embodiments, the pedicle screw device further comprises a cross laser system, which can provide the doctor with an accurate position of the skin incision of the patient. The cross laser system may be mounted at a forward end of the depth advancement mechanism.

In some embodiments, the pedicle screw setting device further comprises a control circuit, wherein the control circuit is used for controlling the pedicle screw setting device to perform screw setting operation and detecting the screw setting condition, and specifically, the control circuit CAN be connected with a computer through RSS485 or CAN communication and controls various motions of a tool according to preoperative planning.

In some embodiments, the pedicle screw placing device further comprises an installation interface, and the installation interface can install the pedicle screw placing device on a mechanical arm of an orthopedic surgery robot, so that intelligent semi-automatic screw placing operation is realized.

In some embodiments, the pedicle screw setting device further comprises a binocular camera, wherein the binocular camera is installed at the front end of the depth propelling mechanism and is connected with a computer, and tracking identification and intraoperative monitoring can be carried out.

In other embodiments, the binocular camera may not be disposed on the pedicle screw setting device, but may be additionally disposed on another support (a floor-type support or a support fixed to the side of the operating table), and is connected to a computer, a navigation surface is disposed on the clamping mechanism of the bone drill mechanism, a visible light visual identification tracking pattern adapted to the binocular vision system is disposed on the navigation surface, and tracking and monitoring are performed by tracking the navigation surface on the intelligent pedicle screw setting device.

The application still provides a nail system is put to pedicle of vertebral arch, it includes as above the pedicle of vertebral arch put nail device and binocular vision system to and the computer, binocular vision system connects the computer.

Specifically, the binocular vision system comprises the binocular cameras used for binocular vision space positioning, the binocular cameras are connected with the computer, a navigation surface is arranged on a clamping mechanism of a bone drill mechanism of the pedicle screw setting device, and visible light vision identification tracking patterns matched with the binocular vision system are arranged on the navigation surface. And tracking the navigation surface on the intelligent pedicle screw setting device through the binocular vision system to perform tracking monitoring.

Compared with the prior art, the method has the following advantages:

according to the technical scheme, the driving force of the linear reciprocating motion of the bone drill mechanism is provided through the depth propelling mechanism, the driving control of the bone drill driving device on the clamping mechanism is combined, and the clamping mechanism is used for clamping a guide pin, a reaming cone, a screw tap, a pedicle screw and the like required in the operation, so that the operation of middle-placed screws in the operation is realized. The pedicle screw placing device is used for operation screw placing operation, the screw placing process is stable, impact on a human body caused by the screw is small for manual work, operation efficiency is improved, screw placing accuracy is improved, and possible accidental injury in manual screw placing can be avoided.

The pedicle screw placing device is also provided with a pressure sensor to finish real-time pressure measurement, so that the resistance of the screw placing tool in each screw placing process in the propelling process can be measured, and the occurrence of operation accidents is avoided. The spring is used for adjusting the micro displacement difference generated during nail placement; be provided with torque sensor between bone drill drive arrangement and fixture, through torque sensor can the accurate measurement pedicle of vertebral arch screw at the whole moment of torsion of putting into the in-process, whether intelligent judgement screw from this has put into in place, avoids the screw because not fastening and the not hard up that arouses in the pedicle of vertebral arch, improves operation success rate and precision.

The pedicle screw placing device can be further fixed to an orthopedic surgery machine arm through the mounting interface, parameters of all links of pedicle screws can be accurately controlled according to preoperative surgical planning, deviation caused by manual operation is reduced, operation precision is guaranteed, and labor intensity of doctors is reduced.

This application is put nail system and is put nail device and binocular vision system and computer with the pedicle of vertebral arch and combine to form complete operation operating system, realizes intelligent orthopedic operation and puts the nail operation, and can pass through binocular vision system tracks the operating condition that intelligent pedicle of vertebral arch put the nail device, tracks to the control, improves and puts the nail accuracy, has reduced the operation risk.

[ description of the drawings ]

FIG. 1 is an exploded view of the components of the pedicle screw device of the present application;

FIG. 2 is an enlarged view of a portion a of FIG. 1;

FIG. 3 is a schematic view of a pedicle screw device according to a first embodiment of the present application;

FIG. 4 is a schematic view of a second embodiment of a pedicle screw device according to the present application;

FIG. 5 is a schematic view of a third embodiment of a pedicle screw device according to the present application;

FIG. 6 is a schematic view of a fourth embodiment of a pedicle screw device according to the present application;

FIG. 7 is a schematic view of another embodiment of a guide pin clamping mechanism of the pedicle screw device according to the present application;

FIG. 8 is a schematic view of another embodiment of the multifunctional clamping mechanism of the pedicle screw device according to the present application.

[ detailed description ] embodiments

Referring to fig. 1 to 6, the pedicle screw setting device of the present application includes a bone drill mechanism and a depth advancing mechanism connected to the bone drill mechanism for generating a linear reciprocating motion variable, wherein the bone drill mechanism includes a bone drill driving device and a clamping mechanism driven by the bone drill driving device. In particular, the bone drill driving device can adopt a driving motor. This application provides through degree of depth advancing mechanism the drive power of bone drill mechanism straight reciprocating motion combines bone drill drive arrangement to fixture's drive control, fixture is arranged in required guide pin, reaming awl, screw tap and pedicle of vertebral arch screw etc. in the centre gripping operation to put the nail operation in realizing the operation, improve operation efficiency and put the nail precision, avoid bare-handed in the past to put possible unexpected injury in the nail.

Referring to fig. 1, the depth driving mechanism in this embodiment may be implemented as follows, and the depth driving mechanism includes a screw assembly, a linear guide rail 112, a slider 113, a bottom plate 111, a moving platform 132, and a driving motor 121 for driving the screw assembly, where the screw assembly includes a ball screw 123 and a screw nut 124. The linear guide rail 112 is fixedly installed with the base plate 111, the base plate 111 is provided with a bearing 115, and the ball screw 123 is installed in the bearing, so that the relative position of the ball screw 123 and the linear guide rail 112 is fixed, but the ball screw 123 and the linear guide rail 112 can rotate relatively in the bearing. The sliding block 113 can make a linear reciprocating relative motion along the linear guide rail 112, and the lead screw nut 124 is fixed on the sliding block 113. The driving motor 121 is connected to the ball screw 123 through a coupling 122 and drives the ball screw 123 to rotate, so that the screw nut 124 and the ball screw 123 generate a linear reciprocating relative motion therebetween, and the screw nut 124 and the slider 113 reciprocate along the linear guide 112 together.

The lead screw nut 124 is provided with a platform connecting piece 131, the lead screw nut 124 is connected with the mobile platform 132 through the platform connecting piece 131, and the bone drill mechanism is installed on the mobile platform 132.

In an embodiment, the bone drill driving device adopted by the bone drill mechanism is a bone drill motor 321, and a torque sensor 322 is disposed between the bone drill motor 321 and the clamping mechanism. The torque sensor 322 can accurately measure the torque of the pedicle screw in the whole implantation process, so that whether the screw is implanted in place or not is intelligently judged, and loosening of the screw in the pedicle due to lack of fastening and twisting and explosion of the pedicle are avoided. The bone drill motor 321 and the clamping mechanism are installed on the mechanism installation seat 323, the moving platform 132 on the depth propelling mechanism is connected with a crossed roller guide rail 311, and the bone drill motor 321 and the clamping mechanism are connected with the moving platform 132 through the mechanism installation seat 323 and the crossed roller guide rail 311.

The pedicle screw device further comprises a pressure sensor 312 and a buffer spring 313 arranged between the bone drill mechanism and the moving platform 132 of the depth advancement mechanism. The pressure sensor 312 can measure the pressure in real time, and can measure the resistance of the nail placing tool in each nail placing procedure in the propelling process, so that the occurrence of surgical accidents is avoided. The spring 313 is used for adjusting the micro displacement difference generated during nail setting.

The pedicle screw placing device also comprises a guide pin fixing mechanism for positioning the guide pin, the guide pin can be clamped in the processes of reaming, tapping and screwing, the guide pin is prevented from being brought by screw placing tools such as a reaming cone and the like in the screw placing process, the cone is pierced, and other organs of a human body are injured. Specifically, the guide pin fixing mechanism 210 includes a fixing member 211, an extension arm 212, and a clamping arm 213, where the fixing member 211 and the depth advancing mechanism are relatively fixedly installed, and specifically, may be installed at a side of the linear guide 112 or a side of the bottom plate 111; one end of the extension arm 212 is mounted on the fixing member 211, the clamping arm 213 is mounted at the other end of the extension arm 212 through a connecting shaft, the clamping arm 213 can rotate along the connecting shaft relative to the extension arm 212, and a clamping hole 215 for clamping a guide pin is formed in the clamping arm 213.

In a specific embodiment, an adjusting member 214 is disposed on one side of a connecting shaft of the clamping arm 213 and the extension arm 212, the adjusting member 214 adopts a screw-thread fit structure, and the adjusting member 214 at the connecting shaft adjusts the tightness of the clamping arm connection through rotation adjustment, so as to fix the angle of the clamping arm 213 relative to the extension arm 212. An adjusting piece 216 is also arranged at one side of the clamping hole 215, and the adjusting piece 216 adopts a thread matching structure, and the depth is adjusted through rotation, so that the tightness of the clamping guide pin 502 is adjusted.

The clamping mechanism of the bone drill mechanism has different embodiments, such as a guide pin clamping mechanism or a reaming/tapping/nail placing three-in-one multifunctional clamping mechanism.

As shown in fig. 3, the clamping mechanism is a guide pin clamping mechanism, which includes a clamping mechanism body 420 and a drill chuck 421, the clamping mechanism body 420 is connected to the torque sensor 322 and the bone drill motor 321, the drill chuck 421 is used for clamping the guide pin 502, and the front end of the guide pin 502 is inserted into the guide tube 501. In one embodiment, the clamping mechanism body 420 is coupled to the torque sensor 322 by a thumb screw.

When solid pedicle screws are used, or when guide pin 502 is not required during a surgical procedure, catheter 501, guide pin securing mechanism, and guide pin clamping mechanism 420 can be omitted.

Referring to fig. 4 to 6, the clamping mechanism is a hole expanding/tapping/nail placing three-in-one multifunctional clamping mechanism, which includes a clamping mechanism body 410 and a quick-release joint 411, wherein the clamping mechanism body 410 is connected to the torque sensor 322 and the bone drill motor 321. The reamer 503, tap 504 and pin driver 505 may be quickly connected to the fixture body 410 by quick disconnect 411. In an exemplary embodiment, the clamping mechanism body 410 may be coupled to the torque sensor 322 via a thumb screw.

The pedicle screw placement procedure generally involves: positioning, bottom hole opening, tapping and nail placing. When the pedicle screw placing device is specifically applied, if a hollow pedicle screw is placed, the guide pin 501 is clamped and fixed by the guide pin fixing mechanism 210 by adopting the pedicle screw placing device, the front end of the guide pin 502 is inserted into the guide tube 501, firstly, the guide pin 502 is placed into the pedicle screw placing device according to the operation position and angle by adopting the pedicle screw placing device, the guide pin is used for determining the position and the angle of the pedicle screw placement, and guiding tools such as a reaming cone, a screw tap, a screw and the like; then, the reaming cone 503 is replaced, and reaming is carried out on the operation part along the guide; then, a screw tap 504 is replaced to tap along the expanded hole along the guide pin; finally, a screw placing screwdriver 505 is replaced to install a hollow screw, and the screw is placed along the guide pin.

If the solid pedicle screw is placed, the pedicle screw placing device clamps and fixes the guide pin 502 by the guide pin fixing mechanism 210, the front end of the guide pin 502 is inserted into the catheter 501, and the guide pin 502 is firstly placed into the pedicle screw placing device according to the operation position and the angle; then, the reaming cone 503 is replaced, and reaming is carried out on the operation part along the guide; then, a screw tap 504 is replaced to tap along the expanded hole along the guide pin; and finally, removing the guide pin, replacing the screw placing screwdriver 505 with a solid screw, and placing the screw along the tapped threaded hole. 3-6, a cross laser system 220 and a binocular camera 600 are provided, wherein the cross laser system 220 is installed at the front end of the depth propelling mechanism, and can provide accurate skin incision position for a doctor; the binocular camera 600 is installed below the front end of the depth propelling mechanism and fixed to the lower side of the bottom plate 111 or the guide rail 112 through the platform fixing seat 114, and the binocular camera 600 is connected with a computer and can be used for tracking identification and intraoperative monitoring.

Referring to fig. 7 and 8, in another embodiment, the binocular camera may not be disposed on the pedicle screw device, but may be disposed on another support and connected to the computer, the clamping mechanism of the bone drill mechanism adopts another embodiment, the

clamping mechanism bodies

412 and 422 are provided with

navigation surfaces

413 and 423, the navigation surfaces 413 and 423 are provided with visible light visual identification tracking patterns matched with a binocular visual system, and tracking and monitoring are performed by tracking the navigation surfaces on the intelligent pedicle screw device.

The pedicle screw placing device further comprises a control circuit, the control circuit is used for controlling the pedicle screw placing device to perform screw placing operation and detecting the screw placing condition, and specifically, the control circuit CAN be connected with a computer through RSS485 or CAN communication and controls various motions of a tool according to preoperative planning. The pedicle screw placing device further comprises an installation interface 601, and the installation interface 601 can install the pedicle screw placing device on a mechanical arm of an orthopedic surgery robot, so that intelligent semi-automatic screw placing operation is realized.

The above description is only a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any equivalent changes based on the technical solutions of the present application are included in the protection scope of the present application.

Claims

1. The pedicle screw placing device is characterized by comprising a bone drill mechanism and a depth propelling mechanism which is connected with the bone drill mechanism and used for generating linear reciprocating motion variables, wherein the bone drill mechanism comprises a bone drill driving device and a clamping mechanism which is connected and driven by the bone drill driving device.

2. The pedicle screw device according to claim 1, wherein the depth advancing mechanism comprises a screw assembly, a moving platform, and a driving motor for driving the screw assembly, the screw assembly comprises a ball screw and a screw nut, the driving motor is connected with and drives the ball screw, so that the screw nut and the ball screw generate a linear reciprocating relative motion, the screw nut is connected with the moving platform, and the bone drill mechanism is mounted on the moving platform.

3. The pedicle screw device according to claim 2, wherein the depth advancing mechanism further comprises a linear guide rail and a slide block, the slide block can linearly reciprocate relative to the linear guide rail, the relative position of the ball screw and the linear guide rail is fixed, and the screw nut is fixed on the slide block.

4. The pedicle screw device according to claim 3, wherein the depth advancing mechanism further comprises a coupling, and the driving motor drives the ball screw through the coupling to perform linear reciprocating motion.

5. The pedicle screw device according to claim 4, wherein the depth advancing mechanism further comprises a base plate, the linear guide is fixedly mounted with the base plate, a bearing is provided on the base plate, and the ball screw is mounted in the bearing.

6. The pedicle screw device according to claim 5, wherein the bone drill mechanism further comprises a mechanism mount and a cross roller guide, the bone drill drive and the clamping mechanism being mounted on the mechanism mount, the cross roller guide being connected to a mobile platform on the depth advancement mechanism, the bone drill drive and the clamping mechanism being connected to the mobile platform through the mechanism mount and the cross roller guide.

7. The pedicle screw device according to claim 6, further comprising a pressure sensor and a buffer spring disposed between the bone drill mechanism and the moving platform of the depth advancement mechanism.

8. The pedicle screw device according to claim 6, wherein the bone drill mechanism further comprises a torque sensor disposed between the bone drill drive mechanism and the clamping mechanism.

9. The pedicle screw placement device according to any one of claims 1 to 8, wherein the clamping mechanism is a guide pin clamping mechanism, which comprises a clamping mechanism body and a drill chuck, the clamping mechanism body is connected with the bone drill driving device, and the drill chuck is used for clamping a guide pin.

10. The pedicle screw device according to any one of claims 1-8, wherein the clamping mechanism is a multifunctional clamping mechanism comprising a clamping mechanism body and a quick release connector, the clamping mechanism body is connected with the bone drill driving device.

11. The pedicle screw placement device according to any one of claims 1-8, further comprising a guide pin fixing mechanism for positioning the guide pin.

12. The pedicle screw device according to claim 11, wherein the guide pin fixing mechanism includes a fixing member, an extension arm, and a clamp arm, the fixing member is fixedly installed opposite to the depth advancing mechanism, one end of the extension arm is installed on the fixing member, the clamp arm is installed at the other end of the extension arm through a connecting shaft, the clamp arm is rotatable along the connecting shaft relative to the extension arm, and the clamp arm is provided with a clamping hole for clamping the guide pin.

13. The pedicle screw device according to claim 12, wherein the guide pin fixing mechanism further comprises adjusting members respectively disposed at one side of the connecting shaft and the clamping hole.

14. The pedicle screw device according to any one of claims 1 to 8, further comprising a cross laser system and a catheter.

15. The pedicle screw device according to claim 14, wherein the cross laser system and catheter are mounted at a forward end of the depth advancement mechanism.

16. The pedicle screw device according to any one of claims 1 to 8, further comprising a binocular camera mounted at the front end of the depth advancing mechanism and connected to a computer.

17. The pedicle screw device according to any one of claims 1 to 8, wherein the clamping mechanism of the bone drill mechanism is provided with a navigation surface.

18. A screw placement system comprising the pedicle screw device according to any one of claims 1 to 15 and a binocular vision system, and a computer, the binocular vision system being connected to the computer.

19. The screw placement system according to claim 18, wherein said binocular vision system comprises a binocular camera for binocular vision spatial positioning, said binocular camera is connected to said computer, a navigation surface is provided on the holding mechanism of the bone drill mechanism of said pedicle screw placement device, said navigation surface is provided with a visible light visual identification tracking pattern adapted to said binocular vision system.