CN214511283U - Reciprocating feeding unit, and orthopedic nail placing mechanism and device - Google Patents

Abstract

The utility model provides a reciprocal unit of feeding, orthopedics put nail mechanism and device, put nail mechanism including fixation clamp structure, digging arm structure and orthopedics, orthopedics is put nail mechanism and is included slip table mechanism, telescopic machanism, probe swing mechanism and reciprocal unit of feeding, and reciprocal unit of feeding includes actuating mechanism, first gyro wheel, second gyro wheel and clamping mechanism. Reciprocal unit, orthopedics put nail mechanism and device of feeding, solved among the prior art doctor and relied on experience to use hand awl and ke shi needle manual punching on the pedicle of vertebral arch, and then the technical problem who leads to the emergence of the various uncertain circumstances of in-process that the pedicle of vertebral arch screw put into.

Description

Reciprocating feeding unit, and orthopedic nail placing mechanism and device

Technical Field

The utility model belongs to the technical field of medical instrument, especially, relate to a reciprocal unit of feeding, orthopedics nail placing mechanism and device.

Background

Congenital scoliosis is a serious congenital deformity of children. Congenital scoliosis is divided into three types, namely poor vertebral body formation, poor segmental motion and a mixed type, the deformity of the vertebral body causes the vertebral column to be convex and rotary to the side or the front and back, the vertebral column is gradually aggravated along with the growth of the vertebral column, the influence of the deformity of the vertebral column on children except the posture deformity influences the heart and lung functions, the visceral functions and the spinal functions of the children seriously hinder the growth and development of the children. Congenital scoliosis is also often accompanied by other systemic malformations, such as spinal canal and spinal cord abnormality, urinary malformation, congenital heart disease, rib fusion or defect, etc., thus aggravating the degree of spinal and thoracic dysplasia of children, leading to children's cardiopulmonary dysgenesis, abdominal organ dysgenesis, and spinal cord dysfunction.

The treatment of the congenital scoliosis is divided into two types of conservative treatment and surgical treatment, the conservative treatment method, such as the Mehta gypsum correction, can delay the aggravation of the spinal deformity sometimes, and the surgical treatment is mainly used for treating the deformity which is rapidly developed, the clinical congenital scoliosis is usually performed by surgical methods including hemivertebrectomy, growing rod distraction, spinal osteotomy correction and fixation fusion, and the key point and difficulty of different surgical methods are the implantation of pedicle screws. The traditional manual screw placing mode is that an operator selects a needle inserting point and a direction according to preoperative and intraoperative imaging data and anatomical positions and experience, taps a screw, passes through the vertebral pedicle to the anterior vertebral body, and evaluates the screw placing satisfaction degree by combining intraoperative imaging data; in the whole process, no matter what the judgment of the operator, the posture change of the infant patient and even the lack of the skill of the operator, the abnormity of any link can lead to the poor fixing effect and the unsatisfactory orthopedic effect, and the damage of peripheral important vascular nerves can lead to serious consequences for the infant patient. Therefore, the bare-handed nail placing method which depends too much on experience and hand feeling has the defect which is difficult to avoid. In recent years, the intelligent robot gradually enters the visual field of people in an auxiliary nail placing mode. Because the robot can overcome the physiological limit of people and has the advantages of accuracy, stability, controllability, repeatability and the like, the intelligent robot becomes a hot trend for the development of orthopedics.

The foreign orthopedic artificial intelligence can be traced back to the artificial hip joint replacement robot developed in the united states in 1988; the first worldwide orthopaedic Surgical robot is the RoboDoc robot developed by Integrated Surgical Systems, inc; the Spine robot which is researched more mature now comprises Spine Assist/Renaissance developed by Israel, ROSA Spine developed by France, CORA, SOINEBOT, VectorBot/kinemedia/LWR and the like which are still under development and improvement; the clinical application is relatively mature and wide. The research of the orthopaedic intelligent robot in China is late, the whole orthopaedic intelligent robot is still in a starting stage, and main research and development units comprise Beijing aerospace university, Harbin industry university and the like; the using units mainly comprise a Beijing ponding pool hospital, a general hospital of China people liberation military, a medical new bridge hospital of the third military and the like; wherein the Beijing children hospital is the first domestic children special hospital applying orthopedic robot assisted surgery. An breguet orthopedic robot developed by Beijing Poisten hospital represents the top level in China in the field, breaks through the limitation of operations at the cervical vertebra stage and reaches the international leading level.

A plurality of research analyses at home and abroad show that compared with the traditional manual nail placing, the intelligent robot-assisted nail placing of the spinal surgery has the advantages that the nail placing accuracy, success rate, satisfaction degree and the like are obviously improved, and postoperative complications caused by nail placing are correspondingly reduced; however, due to the particularity of congenital scoliosis of children, namely that vertebral body deformity is various and complex, individual difference of deformity is obvious, age is small, and development of vertebral body and vertebral pedicle is poor, the probability of nail failure in the operation is still relatively high.

In the field of spinal surgery, X-ray monitoring pedicle screw implantation techniques often require C-arm X-ray fluoroscopy to monitor whether the screw is properly placed. However, because the central axis of the pedicle of vertebral arch on the horizontal and sagittal planes has an inclination angle, and the vertebral body is cylindrical, the position and the depth of the screw are difficult to monitor only by common X-ray imaging, so that the position of the pedicle of vertebral arch screw which is placed has higher false positive rate and false negative rate, and the monitoring by X-ray perspective cannot be continuously monitored, and the radiation injury is relatively high.

At present, most doctors can only perform the operation by a method of experience for many years in the pedicle screw placing operation. The special pedicle screw has the advantages that certain sinking force is generally ensured by the aid of a hand awl all the time, the cortical bone at the screw feeding point is broken, then spongy bone in the pedicle of vertebral arch is slowly and downwards pounded by the blunt head of the 2mm kirschner wire with two hands, special 'crash' sound can be heard, special hand feeling can be felt, until the front cortex of the vertebral arch, harder elastic sound can be heard, the kirschner wire is pulled out, the length of the pedicle screw can be measured, the pedicle screw is placed in the method, and the central part of the pedicle of vertebral arch can be generally ensured. The 'crack' sound and the special hand feeling of the experience mode are not unified and standardized, and each doctor can have difference, so that various uncertain conditions can be caused in the process of putting the pedicle screws, and great potential safety hazards can be caused to patients.

The method for monitoring the pedicle screw implantation by using the near infrared spectrum technology has a certain improvement effect on the accuracy of the pedicle screw implantation, but has no more effective characteristic identification factor at present, cannot well directly reflect the change of the characteristic identification factor, and lacks functions of deviation correction early warning and the like at present. Therefore, the near infrared spectrum technology is further required to optimize and perfect corresponding functions in the aspect of monitoring the pedicle screw placement, and can be better used in clinical operation.

In the pedicle screw internal fixation in the prior art, the computer-aided navigation technology is the most accurate monitoring method at present, but the method needs expensive equipment and special instruments and is complex to operate.

Disclosure of Invention

In view of this, the utility model aims at providing a reciprocating feeding unit, an orthopedic screw placing mechanism and a device, which solves the technical problem that in the prior art, doctors use hand cones and kirschner wires to manually punch holes on the vertebral pedicle by experience, thereby causing various uncertain conditions in the process of placing the vertebral pedicle screws;

further solves the technical problem that the operation is more complicated because expensive equipment and special instruments are needed in the pedicle screw internal fixation in the prior art;

and the technical problems that the fixing effect is poor, the orthopedic effect is unsatisfactory and peripheral important vascular nerves are damaged due to the traditional manual nail placing mode are solved.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

a reciprocating feeding unit comprises a driving mechanism, a first roller, a second roller and a clamping mechanism;

the driving mechanism is used for driving the first idler wheel and the second idler wheel to rotate, the clamping mechanism is used for achieving clamping between the first idler wheel and the second idler wheel, and the first idler wheel and the second idler wheel are used for driving the probe or can perform linear reciprocating motion with a screwdriver bit matched with the pedicle screw.

Furthermore, the driving mechanism comprises a third motor and a fourth motor, the second roller is arranged at the output end of the third motor, and the first roller is arranged at the output end of the fourth motor.

Furthermore, the first roller and the second roller are provided with annular grooves which can be matched with the probes.

Furthermore, clamping mechanism includes guide rail structure, fifth motor, second lead screw, first activity is pressed from both sides, the second activity is pressed from both sides, first gyro wheel support and second gyro wheel support all slide the setting and are in guide rail structure is last, the second gyro wheel rotates to be set up on the second gyro wheel support, first gyro wheel rotates to be set up on the first gyro wheel support, first gyro wheel support and second gyro wheel support set up between first activity is pressed from both sides and the second activity is pressed from both sides, the fifth motor is used for the drive the second lead screw rotates, works as when the second lead screw rotates, first activity is pressed from both sides and the second activity is pressed from both sides tightly first gyro wheel support and second gyro wheel support.

Furthermore, a first pressure sensor is arranged at the contact position of the first movable clamp and the second roller support, and a second pressure sensor is arranged at the contact position of the second movable clamp and the first roller support.

Furthermore, the first movable clamp and the second movable clamp are both meshed with the second lead screw through self-locking trapezoidal threads.

Further, the guide rail structure includes a first guide rail and a second guide rail, the first roller bracket is connected with the first guide rail and the second guide rail in a sliding manner, and the second roller bracket is connected with the first guide rail and the second guide rail in a sliding manner.

An orthopedic nail placing mechanism comprises a sliding table mechanism, a telescopic mechanism, a probe swinging mechanism and the reciprocating feeding unit;

the sliding table mechanism comprises a sliding rail and a sliding table, the sliding table is connected with the sliding rail in a sliding mode, the telescopic mechanism is used for achieving sliding between the sliding table and the sliding rail, the reciprocating feeding unit is arranged on the sliding table through the twisting mechanism, and the probe swinging mechanism is used for achieving rotation of the reciprocating feeding unit.

Further, wrench movement mechanism includes first support frame and wrench movement dish, wrench movement dish through first bearing with first support frame rotates to be connected, clamping mechanism sets up wrench movement dish is last, probe swing mechanism's output with wrench movement dish rigid coupling, probe swing mechanism sets up on the slip table.

Further, the probe swinging mechanism is a first motor.

Further, telescopic machanism includes second motor, first lead screw, second support frame and third support frame, the third support frame sets up on the slide rail, second motor and second support frame all set up on the slip table, first lead screw pass through the second bearing with the second support frame rotates to be connected, be equipped with the screw hole on the third support frame, first lead screw with the screw hole is connected, the second motor is used for the drive first lead screw rotates.

Furthermore, the output shaft of the second motor is connected with the first screw rod through a first torque sensor, and the output end of the probe swinging mechanism is connected with the twisting disc through a second torque sensor.

Furthermore, the thread of the first lead screw and the threaded hole are both self-locking trapezoidal threads.

Furthermore, the first lead screw, the probe swing mechanism, the second motor and the twisting disk are all located on the same axial lead, through holes capable of passing through the probe are formed in the output shaft of the probe swing mechanism, the output shaft of the second motor, the axial centers of the first lead screw and the twisting disk, and the through holes of the twisting disk are located between the first roller and the second roller.

Further, orthopedics nail mechanism of putting still includes first safety cover and second safety cover, first safety cover is used for covering the removal stroke of second motor and second motor, the second safety cover is used for covering probe swing mechanism and reciprocating feed unit.

Further, orthopedics nail placing mechanism still includes guide head and is used for guiding the direction taper pipe of probe, the guide head sets up the second safety cover is close to reciprocating feed unit's tip, the direction taper pipe with the connection can be dismantled to the guide head.

Further, the orthopedics nail placing mechanism further comprises a scale used for measuring the travel distance of the probe, and the scale is arranged at the outer end of the first lead screw.

Further, the end part of the scale, which is far away from the first lead screw, is provided with a circular plate, the circular plate is provided with a round hole capable of passing through the probe, the scale is provided with a hollow groove capable of being matched with the probe, the round hole is communicated with the hollow groove, the scale is provided with two scale marks, and the two scale marks are symmetrically arranged on two sides of the hollow groove.

An orthopedic nail placing device comprises a fixing clamp structure, a movable arm structure and the orthopedic nail placing mechanism;

the fixed clamp structure is connected with the sliding rail through the movable arm structure.

Further, the fixation clamp structure includes that the fixation clamp and four hands twist the bolt, the fixation clamp section is C shape, four the hand is twisted the bolt and is all set up the fixation clamp bottom, each the bolt top is twisted to the hand all is equipped with the anti-skidding cushion, the fixation clamp with the digging arm structural connection.

An orthopedic nail placing method comprises the following steps:

the method comprises the following steps: selecting a tip probe in the probe category, setting the torque threshold of the first torque sensor and the torque threshold of the second torque sensor as torque thresholds which can be passed through skin and meat by the tip probe, setting the pressure thresholds of the first pressure sensor and the second pressure sensor as pressure thresholds which can clamp the tip probe, installing a fixing clamp structure beside an operating table, adjusting the position of an orthopedic nail placing mechanism by adjusting a movable arm structure, inserting the tip probe into the orthopedic nail placing mechanism, enabling the bottom of the tip probe to be flush with the top of a scale, and enabling the tip of the tip probe to be exposed out of a guide conical tube;

step two: the position of the orthopedic nail placing mechanism is adjusted again, so that the pointed probe is pressed against the skin needing to be punched;

step three: slowly twisting the pointed probe into the deep part of skin and flesh by the orthopedic screw placing mechanism, automatically stopping the first motor and the second motor when the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor reach the set torque threshold values, and confirming whether the pointed probe collides with the punching position of the pedicle cortical bone by using X-ray perspective after the first motor and the second motor are stopped; if the position of the pointed probe is not consistent, the advancing direction of the pointed probe is adjusted by adjusting the position of the movable arm structure and the orthopedic nail placing mechanism;

step four: after confirming that no abnormality exists, setting the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor as torque threshold values at which the tip probe can be pressed into the deep part of the cortical bone, setting the pressure threshold values of the first pressure sensor and the second pressure sensor as pressure threshold values at which the tip probe can be clamped, and slowly pressing the tip probe into the deep part of the cortical bone by the orthopedic screw placing mechanism until the orthopedic screw placing mechanism automatically stops;

step five: and step four, after confirming that no abnormality exists, closing the orthopedic nail placing mechanism to replace the tip probe with the blunt probe, simultaneously ensuring that the position displayed on the scale after the blunt probe is inserted is consistent with the position of the scale before the tip probe is replaced, setting the torque threshold of the first torque sensor and the torque threshold of the second torque sensor to be the torque threshold of the blunt probe in the cancellous bone, setting the pressure thresholds of the first pressure sensor and the second pressure sensor to be the pressure thresholds capable of clamping the blunt probe, setting the limit insertion size value of the second motor for the blunt probe, and slowly pressing the blunt probe into the deep cancellous bone by the orthopedic nail placing mechanism until the blunt probe is stopped.

Further, after the operation of the fifth step is completed, the method further comprises the following steps:

step six: the inserted blunt probe does not move, the movable arm structure is adjusted, and the orthopedic nail placing mechanism is moved away from the blunt probe at the same time;

step seven: replacing a guide head and a guide conical tube of the orthopedic screw placement mechanism with a guide head with an inner diameter suitable for the passing of a pedicle screw and a guide conical tube with an inner diameter suitable for the passing of the pedicle screw;

step eight: using a scalpel to perform expanding cutting on two sides of the probe for a certain distance, adjusting the movable arm structure to insert the blunt probe into the orthopedic nail placing mechanism until the guide conical tube is abutted to the expanding cutting part of the scalpel;

step nine: setting a torque threshold value of a first torque sensor to enable the pressure threshold values of the first pressure sensor and the second pressure sensor to be 0, pressing a guide conical tube suitable for a pedicle screw to pass through by the orthopedic screw placing mechanism, and automatically stopping a second motor when the torque threshold value of the first torque sensor reaches the set torque threshold value;

step ten: adjusting the movable arm structure, keeping the position of the guide conical tube unchanged, and detaching and separating the guide conical tube from the guide head;

step eleven: clamping a hollow long-rod pedicle screw driver head between a first roller and a second roller, and installing pedicle self-tapping screws on the hollow long-rod pedicle screw driver head; adjusting a movable arm structure, inserting an orthopedic screw placing mechanism provided with a self-tapping screw for the pedicle of vertebral arch into a guiding conical tube suitable for the passing of the pedicle of vertebral arch along a blunt probe, and directly abutting against the pedicle of vertebral arch;

step twelve: setting a torque threshold value of the first torque sensor and a torque threshold value of the second torque sensor, enabling the pressure threshold values of the first pressure sensor and the second pressure sensor to be pressure threshold values capable of clamping the hollow long rod pedicle screw driver head, and adjusting the motion mode of the first motor to be rotation from twisting; the orthopedic screw placing mechanism screws the self-tapping screw of the pedicle of vertebral arch into the pedicle of vertebral arch, and when the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor reach the set torque threshold values, the first motor and the second motor automatically stop.

Compared with the prior art, reciprocating feeding unit, orthopedics put nail mechanism and device have following advantage:

the utility model discloses a reciprocal feed unit, orthopedics put nail mechanism and device, orthopedics put the nail device and can use with orthopedics intelligent robot combination to can use the independent medical instrument of orthopedics put nail mechanism, orthopedics put the nail device to promote children congenital scoliosis orthopedic surgery security, reduce infant's misery and operation complication incidence, reduce medical cost, promote the healthy development of doctor-patient relation all have apparent progress;

the orthopedic screw placing device can sense the screw placing position in real time through mechanical conduction so as to prevent a screw from breaking through the cortical bone surface of the front vertebral body and ensure the normal running of the screw in the vertebral pedicle, thereby avoiding the occurrence of complications and greatly improving the safety of the vertebral pedicle screw placing. The orthopedic screw placing device can be combined with an orthopedic intelligent robot for use and becomes a last safety lock in the screw placing process; the medical instrument independent of the orthopedic nail placing mechanism can be used to replace the traditional nail placing tool as an auxiliary device, so that the safety and the accuracy of the nail placing by hands of a clinician are greatly improved; the former is used as a component of the intelligent robot for orthopedics department, and the functions of the robot are perfected and enriched; the latter is a separate surgical instrument, not limited to the huge space occupation and high cost of the robot, and can fully exert the experience and skill of the clinician as a supplementary means of the operator. No matter which form exists, the method provides safety guarantee for the operation success of the congenital scoliosis infant, reduces the incidence rate of postoperative complications in the operation, reasonably saves medical resources of China on the premise of meeting the requirements of the infant, and also promotes the healthy development of doctor-patient relationship.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

FIG. 1 is a schematic view of an orthopedic nail placement device according to an embodiment of the present invention;

FIG. 2 is a schematic view of the working structure of the orthopedic nail-placing device according to the embodiment of the present invention;

FIG. 3 is a schematic structural view of an orthopedic nail-placing mechanism according to an embodiment of the present invention;

fig. 4 is a schematic view of a combined structure of a reciprocating feeding unit and a twisting mechanism in the orthopedic nail placing mechanism according to the embodiment of the present invention;

fig. 5 is a schematic structural view of a reciprocating feeding unit according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a blunt probe in the orthopedic nail placement method according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a pointed probe in the method for placing a nail in orthopedics department according to the embodiment of the present invention;

fig. 8 is an electric control schematic view of the orthopedic nail placing device according to the embodiment of the present invention.

Description of reference numerals:

1. a fixing clip; 2. a movable arm; 4. a scale; 5. a first protective cover; 6. a second protective cover; 7. guiding the conical tube; 8. a probe; 9. a guide head; 10. a first support frame; 11. a first motor; 12. a second support frame; 13. a second motor; 14. a first lead screw; 15. a third support frame; 16. a slide rail; 17. A sliding table; 18. a twisting disk; 19. a third motor; 20. a fourth motor; 21. a fifth motor; 22. a first movable clip; 23. a first guide rail; 24. a second guide rail; 25. a second movable clamp; 26. a second lead screw; 27. a first roller; 28. a second roller; 29. a first roller bracket; 30. a second roller bracket.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

A reciprocating feeding unit, as shown in FIG. 5, includes a driving mechanism, a first roller 27, a second roller 28, and a clamping mechanism;

the driving mechanism is used for driving the first roller 27 and the second roller 28 to rotate, the clamping mechanism is used for realizing clamping between the first roller 27 and the second roller 28, and the first roller 27 and the second roller 28 are used for driving the probe 8 or a screwdriver head capable of being matched with the pedicle screw to do linear reciprocating motion. In this embodiment, the driving mechanism includes a third motor 19 and a fourth motor 20, a second roller 28 is disposed at an output end of the third motor 19, a first roller 27 is disposed at an output end of the fourth motor 20, the third motor 19 and the fourth motor 20 rotate in opposite directions and start and stop synchronization is ensured, in this embodiment, the first roller 27 and the second roller 28 are both provided with an annular groove capable of being matched with the probe 8, axial lines of the first roller 27 and the second roller 28 are parallel, the parallel state is favorable for tightening the probe 8, and the first roller 27 and the second roller 28 are also prevented from interfering to influence feeding.

The clamping mechanism comprises a guide rail structure, a fifth motor 21, a second lead screw 26, a first movable clamp 22, a second movable clamp 25, a first roller support 29 and a second roller support 30, wherein the first roller support 29 and the second roller support 30 are both arranged on the guide rail structure in a sliding manner, a second roller 28 is arranged on the second roller support 30 in a rotating manner, a first roller 27 is arranged on the first roller support 29 in a rotating manner, the first roller support 29 and the second roller support 30 are arranged between the first movable clamp 22 and the second movable clamp 25, the fifth motor 21 is used for driving the second lead screw 26 to rotate, when the second lead screw 26 rotates, the first movable clamp 22 and the second movable clamp 25 clamp the first roller support 29 and the second roller support 30, and in the embodiment, the first movable clamp 22 and the second movable clamp 25 are both meshed with the second lead screw 26 through self-locking trapezoidal threads.

A first pressure sensor is arranged at the contact position of the first movable clamp 22 and the second roller bracket 30, and a second pressure sensor is arranged at the contact position of the second movable clamp 25 and the first roller bracket 29.

In this embodiment, the guide rail structure includes a first guide rail 23 and a second guide rail 24, a first roller bracket 29 is slidably connected to the first guide rail 23 and the second guide rail 24, and a second roller bracket 30 is slidably connected to the first guide rail 23 and the second guide rail 24.

An orthopedic nail placing mechanism, as shown in fig. 3-4, comprises a sliding table mechanism, a telescopic mechanism, a probe swinging mechanism and the reciprocating feeding unit;

the sliding table mechanism comprises a sliding rail 16 and a sliding table 17, the sliding table 17 is in sliding connection with the sliding rail 16, the telescopic mechanism is used for achieving sliding between the sliding table 17 and the sliding rail 16, the reciprocating feeding unit is arranged on the sliding table 17 through the twisting mechanism, and the probe swinging mechanism is used for achieving rotation of the reciprocating feeding unit.

The twisting mechanism comprises a first support frame 10 and a twisting disc 18, the twisting disc 18 is rotatably connected with the first support frame 10 through a first bearing, the clamping mechanism is arranged on the twisting disc 18, the output end of the probe swinging mechanism is welded with the twisting disc 18, a fifth motor 21 is fixedly arranged on the twisting disc 18, the probe swinging mechanism is arranged on the sliding table 17, in the embodiment, the probe swinging mechanism is a first motor 11, the feedback of the first pressure sensor and the feedback of the second pressure sensor can automatically adjust the clamping force between the first roller 27 and the second roller 28 in real time, and meanwhile, the first roller 27 and the second roller 28 are positioned in the center of the twisting disc 18, so that the first motor 11 can drive the first roller 27 and the second roller 28 to clamp the probe 8 for reciprocating twisting through the twisting disc 18, the occurrence of the blocking condition is reduced, and the probe can be promoted to move more smoothly. The clamping force of the first roller 27 and the second roller 28 on the probe 8 is adjusted through a preset pressure threshold value, when the resistance is too large, the probe can slip between the first roller 27 and the second roller 28 without following the twisting of the twisting disc 18 and the second motor 13 moving along the sliding rail, and a protection measure is added to avoid the occurrence of medical accidents.

The center of the first support frame 10 is provided with a bearing hole, a first bearing is arranged in the bearing hole, the inner ring of the first bearing is connected with the twisting disc 18 and is coaxial with the first motor 11 and the second motor 13, the first bearing and the second bearing are cylindrical roller bearings, and a spacing retainer is arranged between rollers of the bearings, so that the rollers are prevented from inclining or rubbing against each other, and the increase of the rotating torque is effectively prevented. The twist disk 18 is separable from the bearing bore for ease of installation and removal. The twisting disk 18 outer ring adopts NJ type bearing type design outer ring both sides have can with first bearing complex flange, the twisting disk 18 is close to first motor 11 one side and is equipped with the flange. When the resistance of the probe 8 is too large, the first roller 27 and the second roller 28 can drive the twisting disk 18 to perform buffer motion towards the first motor 11, so that the probe 8 is combined with the slipping effect between the first roller 27 and the second roller 28 under the large resistance, and the vertebral pedicle is protected under the dual effects.

The telescopic mechanism comprises a second motor 13, a first lead screw 14, a second support frame 12 and a third support frame 15, the third support frame 15 is arranged on a sliding rail 16, the second motor 13 and the second support frame 12 are both arranged on a sliding table 17, the first lead screw 14 is rotatably connected with the second support frame 12 through a second bearing, a threaded hole is formed in the third support frame 15, the first lead screw 14 is connected with the threaded hole, the second motor 13 is used for driving the first lead screw 14 to rotate, and in the embodiment, the thread and the threaded hole of the first lead screw 14 are self-locking trapezoidal threads.

In this embodiment, the internal output shaft of the second motor 13 is connected to the first torque sensor and then connected to the first lead screw; the internal output shaft of the first motor 11 is connected with a second torque sensor and is connected with a twisting disk 18; the torque sensors disposed inside the first motor 11 and the second motor 13 need to have hollow shafts, and both the first torque sensor and the second torque sensor are hollow disc type dynamic torque sensors. A second torque sensor located inside the first motor 11 monitors in real time the torque variation caused by the resistance variation of the probe 8 in the travel through the torque transmitted from the twist disk 18, so as to reflect in what tissue the probe 8 travels through the torque variation; the resistance transmitted from the first torque sensor located inside the second motor 13 through the connection of the slide table 17 to the first motor 11 is reflected in the first torque sensor inside the second motor. The probe travel resistance is detected comprehensively by two torque sensors provided inside the first motor 11 and the second motor 13, and it is reflected more precisely in what tissue the probe travels.

First lead screw 14, probe swing mechanism, second motor 13 and twist round dish 18 all are located same axial lead, the output shaft of probe swing mechanism, the output shaft of second motor 13, the axle center position of first lead screw 14 and twist round dish 18 all is equipped with the through-hole that can pass through probe 8, the through-hole of twist round dish 18 is located between first gyro wheel 27 and the second gyro wheel 28, first motor 11, second motor 13, first lead screw 14, twist round dish 18 all adopt coaxial axle center cavity design, the clinician's operation of being convenient for, reduce unnecessary operating procedure, the implementation operation of more high-efficient accuracy, the operation quality has been improved and patient's safety. With the hollow design of axle center, further reduce the device volume, save most operating space for clinical operator, make the operation more comfortable, alleviate clinical operation doctor's pressure, little volume design avoids causing the shading shadow to hinder the operation to go on smoothly simultaneously. The probe 8, the first motor 11, the second motor 13, the first screw 14 and the twisting disc 18 are all located on the same axis, so that the conduction monitoring of parameters such as resistance and the like is facilitated, the data are more accurate, and the monitoring is more sensitive and reliable.

The orthopedic nail placing mechanism further comprises a first protective cover 5 and a second protective cover 6, wherein the first protective cover 5 is used for covering the second motor 13 and the moving stroke of the second motor 13, and the second protective cover 6 is used for covering the probe swinging mechanism and the reciprocating feeding unit. Nail mechanism is put to orthopedics still includes guide head 9 and is used for guide probe 8's direction conical duct 7, and guide head 9 sets up the tip that is close to reciprocal feeding unit at second safety cover 6, and guide head 9 passes through the screw thread to be connected with second safety cover 6, and guide conical duct 7 can be dismantled with guide head 9 and be connected, and guide head 9 and guide conical duct 7 are for pulling out plug-in connection mode.

In this embodiment, nail mechanism is put to orthopedics still includes scale 4 that is used for measuring 8 distances of marcing of probe, scale 4 sets up the end outside first lead screw 14, the tip that first lead screw 14 was kept away from to scale 4 is equipped with circular plate, be equipped with on the circular plate can with the round hole through probe 8, be equipped with on scale 4 can with 8 complex fretwork grooves of probe, round hole and fretwork groove intercommunication, the fretwork groove can hold probe 8 and walk, be equipped with two scale marks on scale 4, two scale mark symmetries set up in fretwork groove both sides, adjacent stub minimum interval is 1mm on a scale mark, adjacent stub minimum interval is 5mm, 4 total length 10cm to 15cm of scale.

An orthopedic nail-placing device, as shown in fig. 1-2, comprises a fixing clip structure, a movable arm structure and the orthopedic nail-placing mechanism;

as shown in fig. 8, the first motor 11, the second motor 13, the third motor 19, the fourth motor 20, the fifth motor 21, the first torque sensor, the second torque sensor, the first pressure sensor, and the second pressure sensor are all connected to a control device, which is an MCU STM32F407IGT6 industrial control in this embodiment, and is hereinafter referred to as an MCU.

The fixation clamp structure passes through the digging arm structure and is connected with slide rail 16, in this embodiment, the fixation clamp structure includes fixation clamp 1 and four hand screws bolt, 1 section of fixation clamp is C shape, four hand screws bolt all set up in fixation clamp 1 bottom, each hand screws bolt top and all is equipped with anti-skidding cushion, anti-skidding cushion has the fixed anti-skidding effect of clamp fastening, fixation clamp 1 and digging arm structural connection, in this embodiment, the digging arm structure includes two digging arms 2, two digging arms 2 are connected through a universal joint, a digging arm 2 is connected with 1 top of fixation clamp through a universal joint, another digging arm 2 is connected with slide rail 16 through a universal joint, universal joint is convenient for the multidirectional change position of digging arm 2.

The pointed probe is mainly used for punching skin and flesh and vertebral pedicle cortical bone positions of the orthopedic nail placing mechanism in the early stage, and the blunt probe is mainly used for punching in the detection of the vertebral pedicle in the later stage.

An orthopedic nail placing method comprises the following steps:

the method comprises the following steps: selecting a tip probe in 8 types of probes, setting the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor as torque threshold values which can be passed through skin and meat by the tip probe, setting the pressure threshold values of the first pressure sensor and the second pressure sensor as pressure threshold values which can clamp the tip probe, installing a fixing clamp structure beside an operating table, adjusting the position of an orthopedic nail placing mechanism by adjusting a movable arm structure, inserting the tip probe into the orthopedic nail placing mechanism, enabling the bottom of the tip probe to be flush with the top of the scale 4, and enabling the tip of the tip probe to be exposed out of the guide conical tube 7;

step two: the position of the orthopedic nail placing mechanism is adjusted again, so that the pointed probe is pressed against the skin needing to be punched;

step three: the first motor 11 drives the pointed probe to repeatedly twist in a forward rotation mode of 90 degrees and a reverse rotation mode of 90 degrees, the pointed probe is slowly twisted and pressed into the deep part of skin and flesh through the second motor 13, when the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor reach the set torque threshold values, the first motor 11 and the second motor 13 are automatically stopped, and after the first motor 11 and the second motor 13 are stopped, whether the pointed probe collides with the punching position of the pedicle cortical bone is confirmed by X-ray fluoroscopy; if the position of the pointed probe is not consistent, the advancing direction of the pointed probe is adjusted by adjusting the position of the movable arm structure and the orthopedic nail placing mechanism;

step four: after confirming that no abnormality exists, setting the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor as torque threshold values at which the tip probe can be pressed into the deep part of the cortical bone, setting the pressure threshold values of the first pressure sensor and the second pressure sensor as pressure threshold values at which the tip probe can be clamped, and slowly pressing the tip probe into the deep part of the cortical bone by the orthopedic screw placing mechanism until the orthopedic screw placing mechanism automatically stops;

step five: and step four, after no abnormity is confirmed, the orthopedic nail placing mechanism is closed to replace the tip probe with the blunt probe, meanwhile, the position displayed on the position of the ruler 4 after the blunt probe is inserted is consistent with the position of the ruler 4 before the tip probe is replaced, the torque threshold of the first torque sensor and the torque threshold of the second torque sensor are set to be the torque thresholds of the blunt probe in the cancellous bone, the pressure thresholds of the first pressure sensor and the second pressure sensor are set to be the pressure thresholds capable of clamping the blunt probe, the limit insertion size value of the second motor 13 for the blunt probe is set, and the orthopedic nail placing mechanism slowly presses the blunt probe into the deep part of the cancellous bone until the orthopedic nail placing mechanism stops.

Step six: the inserted blunt probe does not move, the movable arm structure is adjusted, and the orthopedic nail placing mechanism is moved away from the blunt probe at the same time;

step seven: the guide head 9 and the guide conical tube 7 of the orthopedic screw placing mechanism are replaced by the guide head 9 with the inner diameter suitable for the passing of the pedicle screw and the guide conical tube 7 with the inner diameter suitable for the passing of the pedicle screw;

step eight: using a scalpel to perform expanding cutting on two sides of the probe 8 for a certain distance, adjusting the movable arm structure to insert the blunt probe into the orthopedic nail placing mechanism until the guide conical tube 7 is abutted to the expanding cutting part of the scalpel;

step nine: setting a torque threshold value of a first torque sensor, converting resistance of the guide conical tube 7 when the guide conical tube collides with the vertebral pedicle along the blunt probe into a torque value of a second motor 13, enabling the pressure threshold values of the first pressure sensor and the second pressure sensor to be 0, enabling the blunt probe to pass through the orthopedic screw placing mechanism without resistance, pressing the guide conical tube 7 suitable for the vertebral pedicle screw to pass through by the orthopedic screw placing mechanism, and automatically stopping the second motor 13 when the torque threshold value of the first torque sensor reaches the set torque threshold value;

step ten: adjusting the movable arm structure, keeping the position of the guide conical tube 7 unchanged, and detaching and separating the guide conical tube 7 from the guide head 9;

step eleven: the hollow long-rod pedicle screw driver head is clamped between the first roller 27 and the second roller 28, and the pedicle self-tapping screw is arranged on the hollow long-rod pedicle screw driver head; adjusting a movable arm structure, inserting the orthopedic screw placing mechanism 3 provided with the self-tapping screw of the pedicle of vertebral arch into a guiding conical tube 7 suitable for the passing of the pedicle of vertebral arch along a blunt probe, and directly abutting against the pedicle of vertebral arch, wherein the tool bit of the long-rod pedicle of vertebral arch screw is the conventional device;

step twelve: setting a torque threshold value of the first torque sensor and a torque threshold value of the second torque sensor, enabling the pressure threshold values of the first pressure sensor and the second pressure sensor to be pressure threshold values capable of clamping the pedicle screw driver head of the hollow long rod, adjusting the motion mode of the first motor 11 from twisting to rotation, clamping the pedicle screw driver head of the hollow long rod by the first idler wheel 27 and the second idler wheel 28, driving the twisting disc 18 to rotate by the first motor 11, and further driving the pedicle screw driver head of the hollow long rod to screw the pedicle self-tapping screw into the pedicle of the vertebral arch through the first idler wheel 27 and the second idler wheel 28; the orthopedic screw placing mechanism screws the self-tapping pedicle screw into the pedicle of a vertebral arch, and when the torque threshold value of the first torque sensor and the torque threshold value of the second torque sensor reach the set torque threshold values, the first motor 11 and the second motor 13 automatically stop.

Example one

Before the orthopedic nail placing device is used, a torque threshold and a pressure threshold corresponding to each tissue to be punched are specifically set according to the characteristics of skin, flesh, cortical bone and cancellous bone of a patient. The first pressure sensor, the second pressure sensor, the first torque sensor and the second torque sensor are set with a pressure threshold and a torque threshold for penetrating the skin and the flesh, a pressure threshold and a torque threshold for penetrating the cortical bone and a pressure threshold and a torque threshold for penetrating the cancellous bone. The above threshold value needs to be set in a one-to-one mode according to the type of the probe 8.

When the orthopedic nail placing device is used, the fixing clamp 1 is firstly fixed beside an operating table, the position of the orthopedic nail placing mechanism is adjusted by adjusting the movable arm 2, the tip probe is sequentially inserted into the orthopedic nail placing mechanism, the bottom of the probe 8 is flush with the top of the scale, and the tip is exposed out of the guide conical tube 7. The position of the orthopedic nail placing mechanism is adjusted again, so that the pointed probe is pressed against the skin needing to be punched. The orthopedics nail placing device is started, the second motor 13 drives the sliding table 17 to drive the tip probe to press in to the skin and flesh deep along the sliding rail 16 by driving the first lead screw 14 to be meshed with the trapezoidal threads on the third supporting frame 15, meanwhile, the fifth motor 21 drives the first movable clamp 22 and the second movable clamp 25 to clamp the first roller support 29 and the second roller support 30, so that the first roller 27 and the second roller 28 are driven to clamp the tip probe, then, the first motor 11 drives the first roller 27 and the second roller 28 through the twisting disk 18, and further drives the tip probe to twist repeatedly in the forward rotation mode of 90 degrees and the reverse rotation mode of 90 degrees. The first pressure sensor and the second pressure sensor which are arranged at the positions where the first movable clamp 22 and the second movable clamp 25 clamp the first roller bracket 29 and the second roller bracket 30 can transmit real-time pressure values to the MCU and the display device, and the MCU controls the pressure applied to the probe 8 through a set pressure threshold value.

When the guide conical tube 7 and the tip probe pass through the skin and meat, a first torque sensor arranged in the second motor 13 detects the torque change in the process in real time, and simultaneously transmits a real-time torque value to the MCU and the display device, the MCU judges whether the guide conical tube 7 and the tip probe pass through the skin and meat according to a set torque threshold value, and if the torque value suddenly increases and exceeds or decreases and is lower than the threshold value range in the passing process, all the motors stop moving instantly. When the torque value suddenly increases and exceeds the threshold range during the passing process, whether the pointed probe collides with the vertebral pedicle cortical bone is further judged according to the parameters displayed by the display device, and then X-ray fluoroscopy is carried out to further confirm the position of the pointed probe; when the torque value suddenly decreases to be lower than the threshold range during the passing process, further judging whether the pointed probe penetrates skin and flesh but cannot collide with the vertebral pedicle cortical bone according to the parameters displayed by the display device, and then performing X-ray fluoroscopy to further confirm the position of the pointed probe; when the pointed probe is confirmed to be collided with the corresponding position of the vertebral pedicle cortical bone, the device is restarted, the second motor 13 continues to move to drive the pointed probe to be pressed into the cortical bone, and meanwhile, the first motor 11 drives the pointed probe to repeatedly twist in a mode of rotating 90 degrees forwards and 90 degrees backwards. When the pointed probe penetrates through the vertebral pedicle cortical bone, the torque sensor in the first motor 1 and the torque sensor in the second motor transmit real-time torque to the MCU and the display simultaneously, and all the motors stop moving.

And then X-ray fluoroscopy is carried out to further confirm the position of the tip probe, and after the position of the probe is determined to be accurate, the tip probe is changed into a blunt probe to ensure that the blunt probe is positioned at the original position of the replaced tip probe. The apparatus is turned on again, and the second motor 13 is in a stationary state, and the first motor 11, the third motor 19, the fourth motor 20 and the fifth motor 21 are all in a working state. The third motor 19 and the fourth motor 20 perform forward and reverse rotation and reverse movement to drive the blunt probe to advance in cancellous bone with specific impact force, meanwhile, the first motor 11 drives the blunt probe to repeatedly twist in a forward rotation mode of 90 degrees and a reverse rotation mode of 90 degrees, the position of the pointed probe is further confirmed according to the advance size of the blunt probe at the ruler 4 and X-ray fluoroscopy, the device can be stopped when the required position is reached, and the device can also be automatically stopped according to preset advance size parameters of the ruler.

And if the blunt probe cannot move continuously, and the parameters displayed by the motors do not exceed the preset threshold range, replacing the blunt probe with the tip probe, and simultaneously resetting the corresponding threshold ranges of the tip probe, and then performing the next operation until the probe reaches the required position.

Example two

The orthopedic nail placing device is arranged on the arm of the existing medical robot, so that full-automatic operation is performed, manual operation is reduced, and high-difficulty surgery can be performed more accurately and safely.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (20)

1. A reciprocating feed unit, characterized by: comprises a driving mechanism, a first roller (27), a second roller (28) and a clamping mechanism;

the driving mechanism is used for driving the first roller (27) and the second roller (28) to rotate, the clamping mechanism is used for achieving clamping between the first roller (27) and the second roller (28), and the first roller (27) and the second roller (28) are used for driving the probe (8) or can perform linear reciprocating motion with a screwdriver head matched with the pedicle screw.

2. A reciprocating feed unit as defined in claim 1, wherein: the driving mechanism comprises a third motor (19) and a fourth motor (20), the second roller (28) is arranged at the output end of the third motor (19), and the first roller (27) is arranged at the output end of the fourth motor (20).

3. A reciprocating feed unit as defined in claim 1, wherein: and the first roller (27) and the second roller (28) are provided with annular grooves which can be matched with the probes (8).

4. A reciprocating feed unit as defined in claim 1, wherein: the clamping mechanism comprises a guide rail structure, a fifth motor (21), a second lead screw (26), a first movable clamp (22), a second movable clamp (25), a first roller bracket (29) and a second roller bracket (30), the first roller bracket (29) and the second roller bracket (30) are both arranged on the guide rail structure in a sliding way, the second roller (28) is rotatably arranged on the second roller bracket (30), the first roller (27) is rotatably arranged on the first roller bracket (29), the first roller bracket (29) and the second roller bracket (30) are arranged between the first movable clamp (22) and the second movable clamp (25), the fifth motor (21) is used for driving the second lead screw (26) to rotate, when the second lead screw (26) rotates, the first movable clamp (22) and the second movable clamp (25) clamp the first roller bracket (29) and the second roller bracket (30).

5. The reciprocating feed unit of claim 4, wherein: a first pressure sensor is arranged at the contact position of the first movable clamp (22) and the second roller bracket (30), and a second pressure sensor is arranged at the contact position of the second movable clamp (25) and the first roller bracket (29).

6. The reciprocating feed unit of claim 4, wherein: the first movable clamp (22) and the second movable clamp (25) are meshed with the second lead screw (26) through self-locking trapezoidal threads.

7. The reciprocating feed unit of claim 4, wherein: the guide rail structure comprises a first guide rail (23) and a second guide rail (24), the first roller bracket (29) is in sliding connection with the first guide rail (23) and the second guide rail (24), and the second roller bracket (30) is in sliding connection with the first guide rail (23) and the second guide rail (24).

8. The utility model provides an orthopedics puts nail mechanism which characterized in that: comprises a sliding table mechanism, a telescopic mechanism, a probe swinging mechanism and the reciprocating feeding unit of any one of claims 1 to 7;

the slip table mechanism includes slide rail (16) and slip table (17), slip table (17) with slide rail (16) sliding connection, telescopic machanism is used for realizing slip table (17) with slip between slide rail (16), reciprocal feeding unit sets up through wrench movement on slip table (17), probe swing mechanism is used for realizing the rotation of reciprocal feeding unit.

9. The orthopedic nail placement mechanism of claim 8, wherein: the wrench movement mechanism comprises a first support frame (10) and a wrench movement disc (18), the wrench movement disc (18) is connected with the first support frame (10) in a rotating mode through a first bearing, the clamping mechanism is arranged on the wrench movement disc (18), the output end of the probe swinging mechanism is fixedly connected with the wrench movement disc (18), and the probe swinging mechanism is arranged on the sliding table (17).

10. The orthopedic nail placement mechanism of claim 8, wherein: the probe swinging mechanism is a first motor (11).

11. The orthopedic nail placement mechanism of claim 9, wherein: telescopic machanism includes second motor (13), first lead screw (14), second support frame (12) and third support frame (15), third support frame (15) set up on slide rail (16), second motor (13) and second support frame (12) all set up on slip table (17), first lead screw (14) through the second bearing with second support frame (12) rotate and connect, be equipped with the screw hole on third support frame (15), first lead screw (14) with the screw hole is connected, second motor (13) are used for the drive first lead screw (14) rotate.

12. The orthopedic nail placement mechanism of claim 11, wherein: an output shaft of the second motor (13) is connected with the first lead screw (14) through a first torque sensor, and an output end of the probe swinging mechanism is connected with the twisting disc (18) through a second torque sensor.

13. The orthopedic nail placement mechanism of claim 11, wherein: the thread of the first lead screw (14) and the threaded hole are both self-locking trapezoidal threads.

14. The orthopedic nail placement mechanism of claim 11, wherein: first lead screw (14), probe swing mechanism, second motor (13) and twist round dish (18) and all be located same axial lead, the output shaft of probe swing mechanism, the output shaft of second motor (13), the axle center position of first lead screw (14) and twist round dish (18) all are equipped with the through-hole that can pass through probe (8), the through-hole of twisting round dish (18) is located between first gyro wheel (27) and second gyro wheel (28).

15. An orthopedic nail placement mechanism according to any of claims 11-14, wherein: the orthopaedics nail placing mechanism further comprises a first protection cover (5) and a second protection cover (6), wherein the first protection cover (5) is used for covering the moving stroke of the second motor (13) and the moving stroke of the second motor (13), and the second protection cover (6) is used for covering the probe swinging mechanism and the reciprocating feeding unit.

16. The orthopedic nail placement mechanism of claim 15, wherein: nail mechanism is put to orthopedics still includes guide head (9) and is used for direction conical tube (7) of guide probe (8), guide head (9) set up second safety cover (6) are close to reciprocating feed unit's tip, direction conical tube (7) with guide head (9) can dismantle the connection.

17. An orthopedic nail placement mechanism according to any of claims 11-14, wherein: the orthopedic nail placing mechanism further comprises a scale (4) used for measuring the travel distance of the probe (8), and the scale (4) is arranged at the outer end of the first lead screw (14).

18. An orthopedic nail placement mechanism according to claim 17, wherein: the end part of the scale (4) far away from the first lead screw (14) is provided with a circular plate, the circular plate is provided with a round hole capable of passing through the probe (8), the scale (4) is provided with a hollow groove capable of being matched with the probe (8), the round hole is communicated with the hollow groove, the scale (4) is provided with two scale marks, and the scale marks are symmetrically arranged on two sides of the hollow groove.

19. The utility model provides an orthopedics puts nail device which characterized in that: comprising a fixation clamp structure, a movable arm structure and an orthopedic nail placement mechanism as claimed in any one of claims 9-14, 16, 18;

the fixed clamp structure is connected with the sliding rail (16) through the movable arm structure.

20. The orthopedic nail placement device of claim 19, wherein: the fixation clamp structure includes that fixation clamp (1) and four hands twist the bolt, fixation clamp (1) section is C shape, four the hand is twisted the bolt and is all set up fixation clamp (1) bottom, each the bolt top is twisted to the hand all is equipped with the non-slip rubber pad, fixation clamp (1) with the digging arm structural connection.

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