WO2022006717A1 - 置钉系统及椎弓根置钉装置 - Google Patents

置钉系统及椎弓根置钉装置 Download PDF

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Publication number
WO2022006717A1
WO2022006717A1 PCT/CN2020/100480 CN2020100480W WO2022006717A1 WO 2022006717 A1 WO2022006717 A1 WO 2022006717A1 CN 2020100480 W CN2020100480 W CN 2020100480W WO 2022006717 A1 WO2022006717 A1 WO 2022006717A1
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WO
WIPO (PCT)
Prior art keywords
pedicle screw
bone drill
screw placement
placement device
clamping
Prior art date
Application number
PCT/CN2020/100480
Other languages
English (en)
French (fr)
Inventor
朱圣晓
施林志
陈嘉瑞
张涛
Original Assignee
深圳市鑫君特智能医疗器械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市鑫君特智能医疗器械有限公司 filed Critical 深圳市鑫君特智能医疗器械有限公司
Priority to EP20944433.0A priority Critical patent/EP4176826A4/en
Priority to PCT/CN2020/100480 priority patent/WO2022006717A1/zh
Priority to US17/620,663 priority patent/US20220354510A1/en
Publication of WO2022006717A1 publication Critical patent/WO2022006717A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1622—Drill handpieces
    • A61B17/1624—Drive mechanisms therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
    • A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
    • A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
    • A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
    • A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
    • A61B17/7082—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8875—Screwdrivers, spanners or wrenches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1655—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for tapping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers

Definitions

  • the present application relates to the technical field of medical devices, and in particular, to a semi-automatic screw placement system and a pedicle screw placement device that can be used for pedicle screw placement in orthopedic surgery.
  • Pedicle screw placement is a very common operation. Pedicle screw plays an important role in spinal trauma reduction, deformity correction and other treatments. The key to the success of pedicle screw internal fixation is whether it can accurately The screw is placed transpedicularly without damaging the neurovertebral body.
  • the purpose of the present application is to provide a medical nail placement system and a pedicle nail placement device with convenient and easy operation and accurate nail placement position.
  • a pedicle screw placement device which includes a bone drill mechanism, and a depth advancement mechanism connected with the bone drill mechanism and used to generate linear reciprocating motion variables
  • the bone drill mechanism includes a bone drill driving device and a bone drill driven device.
  • the driving device is connected to the driven clamping mechanism.
  • the present application provides the driving force for the linear reciprocating motion of the bone drill mechanism through the depth advancement mechanism, combined with the driving control of the bone drill driving device for the clamping mechanism, the clamping mechanism is used to clamp the guide pins, expanders required in the operation. Hole taps, taps and pedicle screws, etc., so as to realize the operation of intraoperative nail placement, improve the surgical efficiency and accuracy of nail placement, and avoid possible accidental injuries in the previous freehand nail placement.
  • the depth advancing mechanism may be implemented as follows, the depth advancing mechanism includes a lead screw assembly, a moving platform and a drive motor for driving the lead screw assembly, the lead screw assembly includes a ball screw and a lead screw nut, The drive motor is connected to and drives the ball screw, so that a linear reciprocating relative motion is generated between the screw nut and the ball screw, the screw nut is connected with the moving platform, and the bone drill mechanism is installed on the mobile platform.
  • the depth advancing mechanism further comprises a linear guide rail and a sliding block, the sliding block can perform a linear reciprocating relative movement along the linear guide rail, and the relative position of the ball screw and the linear guide rail is fixed,
  • the lead screw nut is fixed on the slider.
  • the depth propulsion mechanism further includes a coupling, and the driving motor is coupled to drive the ball screw through the coupling to perform linear reciprocating motion.
  • the depth advancing mechanism further includes a bottom plate, the linear guide rail is fixedly installed with the bottom plate, a bearing is provided on the bottom plate, and the ball screw is installed in the bearing.
  • the depth advancement mechanism further includes a platform connector fixed on the lead screw nut, and the moving platform is mounted on the platform connector.
  • the depth advancing mechanism may also adopt a method other than the lead screw assembly to generate linear reciprocating motion variables. Connect the bone drill mechanism. And can detect the movement displacement through the sensor, and control the movement accuracy through the computer.
  • the pedicle screw placement device further includes a pressure sensor and a buffer spring disposed between the bone drill mechanism and the moving platform of the depth advancing mechanism.
  • the pressure sensor completes the real-time measurement of the pressure, and can measure the resistance received by the nailing tool during the advancing process in each process of nailing, so as to avoid the occurrence of surgical accidents.
  • the spring is used to adjust the slight displacement difference generated when the nail is placed.
  • 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 produce different pressures on the pressure sensor and display different corresponding readings.
  • the bone drill mechanism further comprises a mechanism mounting seat and a cross-roller guide rail, the bone drill driving device and the clamping mechanism are mounted on the mechanism mounting seat, and the cross-roller guide rail is connected to the mechanism mounting seat.
  • the depth advancing mechanism is connected to the moving platform, and the bone drill driving device and the clamping mechanism are connected to the moving platform through the mechanism mounting seat and the cross-roller guide rail.
  • the bone drill driving device adopted by the bone drill mechanism is a bone drill motor.
  • a torque sensor is further provided between the bone drill driving device and the clamping mechanism.
  • the torque sensor can accurately measure the torque of the pedicle screw during the entire placement process, thereby intelligently determining whether the screw has been placed in place, avoiding the loosening of the screw in the pedicle due to lack of tightening, and the vertebral The root of the bow was twisted.
  • the clamping mechanism is a guide pin clamping mechanism, which includes 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 for holding the guide pin.
  • the torque sensor is connected between the clamping mechanism body and the bone drill driving device.
  • the clamping mechanism body is connected with the torque sensor through a hand screw.
  • the clamping mechanism is a multifunctional clamping mechanism, which includes a clamping mechanism body and a quick release joint, and the clamping mechanism body is connected with the bone drill driving device. Reamers, taps and nail drivers can be quickly connected to the clamping mechanism via quick-release connectors.
  • the torque sensor is connected between the clamping mechanism body and the bone drill driving device. In a specific embodiment, the clamping mechanism body is connected with the torque sensor through a hand screw.
  • the pedicle screw placement device further includes a guide pin fixing mechanism for positioning the guide pin, which can clamp the guide pin during the process of reaming, tapping and screwing, and during the process of screw placement. Prevent the guide needle from being brought in by nailing tools such as reaming cone, piercing the cone, and causing damage to other organs of the human body.
  • the guide needle fixing mechanism includes a fixing member, an extension arm, and a clamping arm
  • the fixing member is relatively fixedly installed with the depth advancing mechanism
  • one end of the extension arm is installed on the fixing member
  • the clamping arm It is mounted on the other end of the extension arm through a connecting shaft, and the clamping arm is rotatable relative to the extension arm along the connecting shaft, and a clamping hole for clamping the guide needle is provided on the clamping arm.
  • the guide pin fixing mechanism further includes adjustment pieces respectively disposed on one side of the connecting shaft and the clamping hole.
  • the adjusting piece adopts a threaded fitting structure, and the adjusting piece at the connecting shaft is rotated to adjust the depth so as to adjust the tightness of the clamping arm connection and the angle of the fixed clamping arm relative to the extension arm, and the adjusting piece on the side of the clamping hole is rotated to adjust the depth. , so as to adjust the tightness of the clamping guide needle.
  • the pedicle screw placement device further includes a cross laser system, which can provide the doctor with an accurate skin incision position of the patient.
  • the cross laser system may be installed at the front end of the depth advancement mechanism.
  • the pedicle screw placement device further includes a control circuit, and the control circuit is used to control the pedicle screw placement device to perform a screw placement operation, and at the same time detect the screw placement situation.
  • RSS485 or CAN communication can be connected to the computer to control various movements of the tool according to the preoperative planning.
  • the pedicle screw placement device further includes an installation interface, and the installation interface can install the pedicle screw placement device on the mechanical arm of the orthopaedic surgery robot to realize intelligent semi-automatic screw placement operation.
  • the pedicle screw placement device further includes a binocular camera, the binocular camera is installed at the front end of the depth advancement mechanism and is connected to a computer, so that tracking identification and intraoperative monitoring can be performed.
  • the binocular camera may not be arranged on the pedicle screw placement device, but may be additionally arranged on other brackets (floor-standing brackets or brackets fixed on the side of the operating bed), and is connected to the computer.
  • a navigation surface is provided on the clamping mechanism of the bone drill mechanism, and the navigation surface is provided with a visible light visual recognition tracking pattern adapted to the binocular vision system. Navigation surface for tracking and monitoring.
  • the present application also provides a pedicle screw placement system, which includes the above-mentioned pedicle screw placement device, a binocular vision system, and a computer, where the binocular vision system is connected to the computer.
  • the binocular vision system includes the binocular camera used for binocular vision spatial positioning, the binocular camera is connected to the computer, and the clamping mechanism of the bone drill mechanism of the pedicle screw placement device
  • a navigation surface is arranged on the upper surface, and a visible light visual recognition tracking pattern adapted to the binocular vision system is arranged on the navigation surface.
  • the navigation surface on the intelligent pedicle screw placement device is tracked by the binocular vision system to perform tracking and monitoring.
  • the technical solution of the present application provides the driving force for the linear reciprocating motion of the bone drill mechanism through the depth advancing mechanism, combined with the driving control of the bone drill driving device for the clamping mechanism, the clamping mechanism is used to clamp the guide needle required in the operation , reaming taps, taps and pedicle screws, etc., so as to achieve intraoperative screw placement.
  • the pedicle screw placement device of the present application to perform surgical screw placement, the process of screw placement is stable, and the impact on the human body is small compared to manual placement of the screw, which improves the surgical efficiency and the accuracy of screw placement, and can avoid the possibility of manual screw placement. accidental damage.
  • the pedicle screw placement device is also provided with a pressure sensor to measure the pressure in real time, and can measure the resistance received by the nail placement tool during the advancing process in each process of nail placement, so as to avoid the occurrence of surgical accidents.
  • the spring is used to adjust the slight displacement difference generated during screw placement;
  • a torque sensor is arranged between the bone drill driving device and the clamping mechanism, and the torque sensor can accurately measure the torque of the pedicle screw during the entire placement process. This intelligently judges whether the screw has been placed in place, avoids loosening of the screw in the pedicle due to lack of tightening, and improves the success rate and accuracy of the operation.
  • the pedicle screw placement device of the present application can also be fixed to the orthopaedic surgery robotic arm through the installation interface, and can precisely control the parameters of each link of the pedicle screw placement according to the preoperative surgical plan, reducing the need for manual operation. The deviation, so that the accuracy of surgery can be guaranteed, while reducing the labor intensity of doctors.
  • the screw placement system of the present application combines a pedicle screw placement device with a binocular vision system and a computer to form a complete surgical operating system, realizes intelligent orthopedic surgery screw placement operation, and can track the intelligent pedicle through the binocular vision system.
  • the operation of the nail placement device is tracked and monitored, the accuracy of nail placement is improved, and the surgical risk is reduced.
  • Fig. 2 is an enlarged view of part a in Fig. 1;
  • Embodiment 1 of the pedicle screw placement device of the present application is a schematic diagram of Embodiment 1 of the pedicle screw placement device of the present application.
  • Embodiment 2 of the pedicle screw placement device of the present application.
  • Embodiment 3 of the pedicle screw placement device of the present application.
  • Embodiment 4 of the pedicle screw placement device of the present application.
  • FIG. 7 is a schematic diagram of another embodiment of the guide needle clamping mechanism of the pedicle screw placement device of the present application.
  • FIG. 8 is a schematic diagram of another embodiment of the multifunctional clamping mechanism of the pedicle screw placement device of the present application.
  • the pedicle screw placement device of the present application includes a bone drill mechanism, and a depth advancement mechanism connected with the bone drill mechanism and used to generate linear reciprocating motion variables
  • the bone drill mechanism includes a bone drill driving device and a clamping mechanism connected and driven by the bone drill driving device.
  • the bone drill driving device may use a driving motor.
  • the present application provides the driving force for the linear reciprocating motion of the bone drill mechanism through the depth advancement mechanism, combined with the drive control of the bone drill driving device for the clamping mechanism, the clamping mechanism is used to clamp the guide pins, expanders required in the operation. Hole taps, taps and pedicle screws, etc., so as to realize the operation of intra-operative nail placement, improve the surgical efficiency and accuracy of nail placement, and avoid possible accidental injuries in the previous free-hand nail placement.
  • the depth advancing mechanism can be implemented as follows.
  • the depth advancing mechanism includes a lead screw assembly, a linear guide 112 , a slider 113 , a base plate 111 , a moving platform 132 and a drive screw assembly.
  • the motor 121 is driven, and the screw assembly includes a ball screw 123 and a screw nut 124 .
  • the linear guide 112 is fixedly mounted on the bottom plate 111 , the bottom plate 111 is provided with a bearing 115 , and the ball screw 123 is installed in the bearing, so the distance between the ball screw 123 and the linear guide 112 is The relative position is fixed, but at the same time it can rotate relative to the bearing.
  • the sliding block 113 can perform linear reciprocating relative motion along the linear guide rail 112 , and the lead screw nut 124 is fixed on the sliding block 113 .
  • the drive motor 121 is connected to the ball screw 123 through the coupling 122 and drives the ball screw 123 to rotate, so that a linear reciprocating relative motion is generated between the screw nut 124 and the ball screw 123 .
  • the lead screw nut 124 and the slider 113 reciprocate along the linear guide rail 112 together.
  • a platform connecting piece 131 is provided on the lead screw nut 124 , the lead screw nut 124 is connected to the moving platform 132 through the platform connecting piece 131 , and the bone drill mechanism is mounted on the moving platform 132 .
  • the depth advancing mechanism may also adopt a method other than the lead screw assembly to generate linear reciprocating motion variables. Connect the bone drill mechanism. And can detect the movement displacement through the sensor, and control the movement accuracy through the computer.
  • the bone drill driving device used by the bone drill mechanism is a bone drill motor 321, and a torque sensor 322 is provided between the bone drill motor 321 and the clamping mechanism.
  • the torque sensor 322 can accurately measure the torque of the pedicle screw during the entire placement process, thereby intelligently determining whether the screw has been placed in place, avoiding the loosening of the screw in the pedicle due to lack of tightening, and The pedicle was twisted and exploded.
  • the bone drill motor 321 and the clamping mechanism are mounted on the mechanism mounting seat 323, the moving platform 132 on the depth advancing mechanism is connected with a cross roller guide rail 311, the bone drill motor 321 and the clamping mechanism The mechanism is connected to the moving platform 132 through the mechanism mounting seat 323 and the cross roller guide rail 311 .
  • the pedicle screw placement device further includes a pressure sensor 312 and a buffer spring 313 disposed between the bone drill mechanism and the moving platform 132 of the depth advancement mechanism.
  • the pressure sensor 312 completes the real-time measurement of the pressure, and can measure the resistance received by the nail placement tool during the advancing process in each process of nail placement, so as to avoid the occurrence of surgical accidents.
  • the spring 313 is used to adjust the slight displacement difference generated when the nail is placed.
  • the pedicle screw placement device further includes a guide needle fixing mechanism for positioning the guide needle, which can clamp the guide needle during the process of reaming, tapping and screwing, and prevent the guide needle from being expanded during the screw placement process.
  • the hole cone and other nailing tools are brought in to pierce the cone and cause damage to other organs of the human body.
  • the guide needle fixing mechanism 210 includes a fixing member 211, an extension arm 212, and a clamping arm 213.
  • the fixing member 211 is relatively fixedly installed with the depth advancing mechanism, and can be installed on the side of the linear guide 112 or the bottom plate 111.
  • one end of the extension arm 212 is mounted on the fixing member 211, the clip arm 213 is mounted on the other end of the extension arm 212 through a connecting shaft, and the clip arm 213 can be relative to the extending arm 212 along the connecting shaft When rotated, the clamping arm 213 is provided with a clamping hole 215 for clamping the guide needle.
  • an adjusting member 214 is provided on one side of the connecting shaft of the clamping arm 213 and the extending arm 212 .
  • the adjusting member 214 adopts a threaded fitting structure, and the adjusting member 214 at the connecting shaft adjusts the clamp by rotating and adjusting.
  • the tightness of the arm connection thereby fixing the angle of the clip arm 213 relative to the extension arm 212 .
  • An adjustment member 216 is also provided on one side of the clamping hole 215 , and the adjustment member 216 adopts a threaded fitting structure, and the depth is adjusted by rotation, thereby adjusting the tightness of the clamping guide needle 502 .
  • the clamping mechanism of the bone drill mechanism has different embodiments, such as a guide pin clamping mechanism or a three-in-one multi-function clamping mechanism for reaming/tapping/pinning.
  • 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 , the torque sensor 322 and the bone drill motor 321, the drill chuck 421 is used to hold the guide needle 502, and the front end of the guide needle 502 is inserted into the catheter 501.
  • the clamping mechanism body 420 is connected to the torque sensor 322 through a hand screw.
  • the catheter 501, the guide needle fixing mechanism and the guide needle holding mechanism 420 can be omitted.
  • the clamping mechanism is a three-in-one multi-function clamping mechanism of reaming/tapping/fixing, which includes a clamping mechanism body 410 and a quick release joint 411 .
  • the clamping mechanism body 410 It is connected with the torque sensor 322 and the bone drill motor 321 .
  • the reaming cone 503 , the tap 504 and the nail driver 505 can be quickly connected to the clamping mechanism body 410 through the quick release joint 411 .
  • the clamping mechanism body 410 may be connected to the torque sensor 322 by a hand screw.
  • the process of pedicle screw placement generally includes: positioning, opening the bottom hole, tapping, and placing the screw.
  • the pedicle screw placement device of the present application When the pedicle screw placement device of the present application is specifically applied, if a hollow pedicle screw is inserted, the guide pin 501 is clamped and fixed by the guide pin fixation mechanism 210 using the pedicle screw placement device of the present application, and the front end of the guide pin 502 is used. Inserting into the catheter 501, firstly, the guide pin 502 is placed according to the surgical site and angle through the pedicle screw placement device of the present application.
  • screws and other tools to guide then replace the reaming cone 503, and ream the surgical site along the guide; then replace the tap 504 to tap along the expanded hole along the guide needle; finally replace the nail driver Install the cannulated screw on the 505 and insert the screw along the guide wire.
  • the pedicle screw placement device of the present application is used to clamp and fix the guide needle 501 with the guide needle fixing mechanism 210, and the front end of the guide needle 502 is inserted into the catheter 501.
  • the nail placement device inserts the guide needle 502 according to the surgical site and angle; then replaces the reaming cone 503, and reams the surgical site along the guide; then replaces the tap 504 and taps along the expanded hole along the guide needle.
  • 3 to 6 are provided with a cross laser system 220 and a binocular camera 600, the cross laser system 220 is installed at the front end of the depth advancement mechanism, and can provide doctors with accurate patient skin incision positions;
  • the binocular camera 600 is installed under the front end of the depth propulsion mechanism, and is fixed on the bottom plate 111 or the lower side of the guide rail 112 by the platform fixing seat 114 .
  • the binocular camera may not be arranged on the pedicle screw placement device, but may be additionally arranged on other brackets and connected to the computer.
  • the bone drill The clamping mechanism of the mechanism adopts another embodiment.
  • Navigation surfaces 413 and 423 are provided on the clamping mechanism bodies 412 and 422.
  • the navigation surfaces 413 and 423 are provided with visible light vision systems adapted to the binocular vision system. Identify the tracking pattern, and perform tracking monitoring by tracking the navigation surface on the intelligent pedicle screw placement device.
  • the pedicle screw placement device further includes a control circuit, the control circuit is used to control the pedicle screw placement device to perform a screw placement operation, and at the same time detect the screw placement situation.
  • the control circuit can communicate through RSS485 or CAN. It is connected to the computer to control various movements of the tool according to the preoperative planning.
  • the pedicle screw placement device further includes an installation interface 601, and the installation interface 601 can install the pedicle screw placement device on the mechanical arm of the orthopedic surgery robot to realize intelligent semi-automatic nail placement operation.
  • the present application also provides a pedicle screw placement system, which includes the above-mentioned pedicle screw placement device, a binocular vision system, and a computer, where the binocular vision system is connected to the computer.
  • the binocular vision system includes the binocular camera used for binocular vision spatial positioning, the binocular camera is connected to the computer, and the clamping mechanism of the bone drill mechanism of the pedicle screw placement device
  • a navigation surface is arranged on the upper surface, and a visible light visual recognition tracking pattern adapted to the binocular vision system is arranged on the navigation surface.
  • the navigation surface on the intelligent pedicle screw placement device is tracked by the binocular vision system to perform tracking and monitoring.

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Abstract

椎弓根置钉装置包括骨钻机构，以及和骨钻机构连接并用于产生直线往复运动变量的深度推进机构，骨钻机构包括骨钻驱动装置以及由骨钻驱动装置连接驱动的夹持机构。通过深度推进机构提供骨钻机构直线往复运动的驱动力，结合骨钻驱动装置对夹持机构的驱动控制，夹持机构用于夹持手术中所需的导针（502）、扩孔锥（503）、丝锥（504）及椎弓根螺钉等，从而实现手术中置钉操作，提高手术效率和置钉精准度，避免以往徒手置钉中可能的意外伤害。椎弓根置钉系统包括椎弓根置钉装置和双目视觉系统以及相连接的计算机，可以通过双目视觉系统追踪智能椎弓根置钉装置的操作情况，进行跟踪监控。

Description

置钉系统及椎弓根置钉装置 技术领域
本申请涉及医疗器械技术领域，尤其是涉及可用于进行骨科手术中椎弓根螺钉置入的半自动置钉系统及其椎弓根置钉装置。
 背景技术
椎弓根置钉手术是一个很普遍的手术，椎弓根钉在脊柱创伤复位、畸形矫正等治疗方面发挥着重要的作用，而椎弓根钉内固定手术成功的关键在于能否准确地将螺钉经椎弓根置入而不损害神经椎体。
目前没有可以直接用于骨科手术机器人的自动或者半自动椎弓根螺钉置钉工具。目前所知的骨科机器人只是用于导航定位至病灶处，由医生徒手置钉；或者是配合使用骨科电钻，手动操作置入螺钉。医生徒手攻丝和上钉时，医生需要付出很大的体力，并且由于皮质骨的硬度较高，医生人工进行扩孔时，往往需要借助锤子等工具敲入，这种操作对人体造成比较大的冲击力，容易出现意外伤害；再有就是在手工拧入螺钉时，最后一下的紧固扭矩无法有效控制。使用低速骨钻进行攻丝和上钉时，医生则缺少徒手拧入的手感，难以判断螺钉是否已经到位；在丝攻及低速骨钻等工具端增加导航标记架，虽然可以实时跟踪工具尖端部在骨头中的位置，但是由于人的反应及生理性疲劳等原因，会存在延时情况，导致深度不够精准。
因此，需要提供一种操作方便容易、置钉位置精准、能够提高手术效率、降低手术伤害的椎弓根置钉装置。
 技术问题
本申请的目的在于提供一种操作方便容易、置钉位置精准的医用置钉系统及椎弓根置钉装置。
 技术解决方案
为实现本申请目的，提供以下技术方案：
提供一种椎弓根置钉装置，其包括骨钻机构，以及和所述骨钻机构连接并用于产生直线往复运动变量的深度推进机构，所述骨钻机构包括骨钻驱动装置以及由骨钻驱动装置连接驱动的夹持机构。本申请通过深度推进机构提供所述骨钻机构直线往复运动的驱动力，结合骨钻驱动装置对夹持机构的驱动控制，所述夹持机构用于夹持手术中所需的导针、扩孔锥、丝锥及椎弓根螺钉等，从而实现手术中置钉操作，提高手术效率和置钉精准度，避免以往徒手置钉中可能的意外伤害。
一些实施方式中，所述深度推进机构可以是这样实现，所述深度推进机构包括丝杠组件、移动平台以及驱动丝杠组件的驱动电机，所述丝杠组件包括滚珠丝杠、丝杠螺母，所述驱动电机连接并驱动所述滚珠丝杠，使得所述丝杠螺母与滚珠丝杠之间产生直线往复的相对运动，所述丝杠螺母与所述移动平台连接，所述骨钻机构安装在所述移动平台上。
一些实施方式中，所述深度推进机构进一步包括直线导轨和滑块，所述滑块可沿所述直线导轨做直线往复的相对运动，所述滚珠丝杠与所述直线导轨的相对位置固定，所述丝杠螺母固定在所述滑块上。具体的，所述深度推进机构还包括联轴器，所述驱动电机通过联轴器联接驱动所述滚珠丝杠，做直线往复运动。具体一些实施方式中，所述深度推进机构还包括底板，所述直线导轨与所述底板固定安装，所述底板上设有轴承，所述滚珠丝杠安装在所述轴承中。一些实施方式中，所述深度推进机构进一步包括固定在所述丝杠螺母上的平台连接件，所述移动平台安装在所述平台连接件上。
在另一些实施方式中，所述深度推进机构还可以采取丝杠组件以外的方式来实现产生直线往复运动变量，例如通过驱动电机直接驱动连接件沿滑轨直线往复运动，所述连接件用于连接所述骨钻机构。并可以通过传感器进行运动位移检测，通过计算机控制移动精度。
进一步的，在一些实施方式中，所述椎弓根置钉装置还包括设置在所述骨钻机构与所述深度推进机构的移动平台之间的压力传感器和缓冲弹簧。其中压力传感器完成压力的实时测量，可以测量在置钉各个工序中置钉工具在推进的过程中所受到的阻力，避免手术事故的发生。弹簧用于调节置钉时产生的微量位移差。具体的，可以将压力传感器固定在移动平台上，机构安装座相对移动平台的不同程度的位移对所述压力传感器产生不同的压力而显示不同的相应读数。
一些实施方式中，所述骨钻机构进一步包括机构安装座和交叉滚柱导轨，所述骨钻驱动装置和所述夹持机构安装在所述机构安装座上，所述交叉滚柱导轨与所述深度推进机构上的移动平台连接，所述骨钻驱动装置和所述夹持机构通过所述机构安装座和所述交叉滚柱导轨与所述移动平台连接。实施例中，所述骨钻机构采用的骨钻驱动装置为骨钻电机。
一些实施方式中，在所述骨钻驱动装置和所述夹持机构之间进一步设置有扭矩传感器。通过所述扭矩传感器可以精确测量椎弓根螺钉在整个置入过程中的扭矩，由此智能判断螺钉是否已经置入到位，避免螺钉在椎弓根中由于没有紧固而引起的松动，以及椎弓根被拧爆。
一些实施方式中，所述夹持机构为导针夹持机构，其包括夹持机构本体和钻夹头，所述夹持机构本体与所述骨钻驱动装置相连接，所述钻夹头用于夹持导针。一些实施方式中，所述夹持机构本体与所述骨钻驱动装置之间连接有所述扭矩传感器。具体实施例中，所述夹持机构本体通过手拧螺钉与扭矩传感器连接。
一些实施方式中，所述夹持机构为多功能夹持机构，其包括夹持机构本体和快拆接头，所述夹持机构本体与所述骨钻驱动装置相连接。扩孔锥、丝锥及置钉起子可以通过快拆接头快速连接到夹持机构。一些实施方式中，所述夹持机构本体与所述骨钻驱动装置之间连接有所述扭矩传感器。具体实施例中，所述夹持机构本体通过手拧螺钉与扭矩传感器连接。
一些实施方式中，所述椎弓根置钉装置还包括用于定位导针的导针固定机构，可以在扩孔、攻丝及上钉的过程中，夹紧导针，在置钉过程中防止导针被扩孔锥等置钉工具带入，刺穿锥体，对人体其他器官造成伤害。一些实施方式中，所述导针固定机构包括固定件、延伸臂、夹臂，所述固定件与所述深度推进机构相对固定安装，所述延伸臂一端安装在固定件上，所述夹臂通过连接轴安装在所述延伸臂另一端，并且所述夹臂相对所述延伸臂可沿连接轴转动，所述夹臂上设有用以夹持导针的夹持孔。
一些实施方式中，所述导针固定机构还包括分别设置于连接轴和夹持孔一侧的调整件。所述调整件采用螺纹配合结构，连接轴处的调整件通过转动调整进深，从而调节夹臂连接的松紧度和固定夹臂相对延伸臂的角度，夹持孔一侧的调整件通过转动调整进深，从而调节夹持导针的松紧度。
一些实施方式中，所述椎弓根置钉装置还包括十字激光系统，可以为医生提供准确的患者皮肤切口位置。所述十字激光系统可以安装在所述深度推进机构的前端。
一些实施方式中，所述椎弓根置钉装置还包括控制电路，所述控制电路用于控制所述椎弓根置钉装置进行置钉操作，同时检测置钉情况，具体的，控制电路通过RSS485或CAN通讯可以与计算机相连，根据术前规划控制工具的各种运动。
一些实施方式中，所述椎弓根置钉装置还包括安装接口，所述安装接口可以将所述椎弓根置钉装置安装在骨科手术机器人的机械臂上，实现智能半自动化置钉操作。
一些实施方式中，所述椎弓根置钉装置还包括双目摄像机，所述双目摄像机安装在所述深度推进机构前端，且与计算机连接，可以进行跟踪识别及术中监控。
所述双目摄像机在另一些实施方式中可以不设置在椎弓根置钉装置上，而是另外设置于其他支架（落地式支架或者固定于手术床侧边的支架）上，且与计算机连接，在所述骨钻机构的夹持机构上设有导航面，所述导航面上设有与双目视觉系统相适配的可见光视觉识别跟踪图案，通过追踪智能椎弓根置钉装置上的导航面，进行跟踪监控。
本申请还提供一种椎弓根置钉系统，其包括如上所述的椎弓根置钉装置和双目视觉系统，以及计算机，所述双目视觉系统连接所述计算机。
具体的，所述双目视觉系统包括用作双目视觉空间定位的所述双目摄像机，所述双目摄像机连接所述计算机，所述椎弓根置钉装置的骨钻机构的夹持机构上设有导航面，所述导航面上设有与双目视觉系统相适配的可见光视觉识别跟踪图案。通过所述双目视觉系统追踪智能椎弓根置钉装置上的导航面，进行跟踪监控。
 有益效果
与现有技术相比较，本申请具有如下所述优点：
本申请技术方案通过深度推进机构提供所述骨钻机构直线往复运动的驱动力，结合骨钻驱动装置对夹持机构的驱动控制，所述夹持机构用于夹持手术中所需的导针、扩孔锥、丝锥及椎弓根螺钉等，从而实现手术中置钉操作。使用本申请的椎弓根置钉装置进行手术置钉操作，置钉过程平稳，相对于人工置钉对人体造成的冲击小，提高手术效率和置钉精准度，可避免徒手置钉中可能的意外伤害。
所述椎弓根置钉装置还设有压力传感器完成压力的实时测量，可以测量在置钉各个工序中置钉工具在推进的过程中所受到的阻力，避免手术事故的发生。弹簧用于调节置钉时产生的微量位移差；在骨钻驱动装置和夹持机构之间设置有扭矩传感器，通过所述扭矩传感器可以精确测量椎弓根螺钉在整个置入过程中的扭矩，由此智能判断螺钉是否已经置入到位，避免螺钉在椎弓根中由于没有紧固而引起的松动，提高手术成功率和精准度。
本申请的椎弓根置钉装置还可以通过安装接口固定到骨科手术机器臂上，可以按照术前手术规划对椎弓根螺钉置入的各个环节的参数进行精确控制，减少了人工操作带来的偏差，使得手术精度得到保证，同时减轻了医生的劳动强度。
本申请置钉系统将椎弓根置钉装置和双目视觉系统及计算机结合组成完整的手术操作系统，实现智能化骨科手术置钉操作，并可以通过所述双目视觉系统追踪智能椎弓根置钉装置的操作情况，进行跟踪监控，提高置钉精确度，降低了手术风险。
 附图说明
图1为本申请椎弓根置钉装置综合各部件的分解示意图；
图2为图1中a部分的放大图；
图3为本申请椎弓根置钉装置实施例一的示意图；
图4为本申请椎弓根置钉装置实施例二的示意图；
图5为本申请椎弓根置钉装置实施例三的示意图；
图6为本申请椎弓根置钉装置实施例四的示意图；
图7为本申请椎弓根置钉装置导针夹持机构另一实施例的示意图；
图8为本申请椎弓根置钉装置的多功能夹持机构另一实施例的示意图。
 本发明的实施方式
请参阅图1~6，本申请椎弓根置钉装置包括骨钻机构，以及和所述骨钻机构连接并用于产生直线往复运动变量的深度推进机构，所述骨钻机构包括骨钻驱动装置以及由骨钻驱动装置连接驱动的夹持机构。具体的，所述骨钻驱动装置可以采用驱动电机。本申请通过深度推进机构提供所述骨钻机构直线往复运动的驱动力，结合骨钻驱动装置对夹持机构的驱动控制，所述夹持机构用于夹持手术中所需的导针、扩孔锥、丝锥及椎弓根螺钉等，从而实现手术中置钉操作，提高手术效率和置钉精准度，避免以往徒手置钉中可能的意外伤害。
请参阅图1，在本实施例中所述深度推进机构可以是这样实现，所述深度推进机构包括丝杠组件、直线导轨112、滑块113、底板111、移动平台132以及驱动丝杠组件的驱动电机121，所述丝杠组件包括滚珠丝杠123、丝杠螺母124。所述直线导轨112与所述底板111固定安装，所述底板111上设有轴承115，所述滚珠丝杠123安装在所述轴承中，因此所述滚珠丝杠123与所述直线导轨112的相对位置固定，但同时可在轴承中相对转动。所述滑块113可沿所述直线导轨112做直线往复的相对运动，所述丝杠螺母124固定在所述滑块113上。所述驱动电机121通过联轴器122连接所述滚珠丝杠123并驱动所述滚珠丝杠123转动，使得所述丝杠螺母124与滚珠丝杠123之间产生直线往复的相对运动，所述丝杠螺母124及滑块113一起沿着直线导轨112往复运动。
在所述丝杠螺母124上设有平台连接件131，所述丝杠螺母124通过所述平台连接件131与所述移动平台132连接，所述骨钻机构安装在所述移动平台132上。
在另一些实施方式中，所述深度推进机构还可以采取丝杠组件以外的方式来实现产生直线往复运动变量，例如通过驱动电机直接驱动连接件沿滑轨直线往复运动，所述连接件用于连接所述骨钻机构。并可以通过传感器进行运动位移检测，通过计算机控制移动精度。
实施例中，所述骨钻机构采用的骨钻驱动装置为骨钻电机321，在所述骨钻电机321和所述夹持机构之间设置有扭矩传感器322。通过所述扭矩传感器322可以精确测量椎弓根螺钉在整个置入过程中的扭矩，由此智能判断螺钉是否已经置入到位，避免螺钉在椎弓根中由于没有紧固而引起的松动，以及椎弓根被拧爆。所述骨钻电机321和所述夹持机构安装在机构安装座323上，在所述深度推进机构上的移动平台132连接有交叉滚柱导轨311，所述骨钻电机321和所述夹持机构通过所述机构安装座323和所述交叉滚柱导轨311与所述移动平台132连接。
所述椎弓根置钉装置还包括设置在所述骨钻机构与所述深度推进机构的移动平台132之间的压力传感器312和缓冲弹簧313。其中压力传感器312完成压力的实时测量，可以测量在置钉各个工序中置钉工具在推进的过程中所受到的阻力，避免手术事故的发生。弹簧313用于调节置钉时产生的微量位移差。
所述椎弓根置钉装置还包括用于定位导针的导针固定机构，可以在扩孔、攻丝及上钉的过程中，夹紧导针，在置钉过程中防止导针被扩孔锥等置钉工具带入，刺穿锥体，对人体其他器官造成伤害。具体的，所述导针固定机构210包括固定件211、延伸臂212、夹臂213，所述固定件211与所述深度推进机构相对固定安装，具体可以安装在直线导轨112侧边或底板111侧边；所述延伸臂212一端安装在固定件211上，所述夹臂213通过连接轴安装在所述延伸臂212另一端，并且所述夹臂213相对所述延伸臂212可沿连接轴转动，所述夹臂213上设有用以夹持导针的夹持孔215。
具体实施例中，所述夹臂213与所述延伸臂212的连接轴一侧设有调整件214，所述调整件214采用螺纹配合结构，连接轴处的调整件214通过转动调整来调节夹臂连接的松紧度，从而固定夹臂213相对延伸臂212的角度。在夹持孔215的一侧也设有调整件216，所述调整件216采用螺纹配合结构，通过转动调整进深，从而调节夹持导针502的松紧度。
所述骨钻机构的夹持机构有不同的实施例，如导针夹持机构或扩孔/攻丝/置钉三合一多功能夹持机构。
如图3所示，所述夹持机构为导针夹持机构，其包括夹持机构本体420和钻夹头421，所述夹持机构本体420与所述扭矩传感器322及所述骨钻电机321相连接，所述钻夹头421用于夹持导针502，导针502前端插入导管501中。具体实施例中，所述夹持机构本体420通过手拧螺钉与扭矩传感器322连接。
当采用实心椎弓根螺钉，或者手术过程中不需要采用导针502时，可省略导管501、导针固定机构和导针夹持机构420。
请参阅图4~6，所述夹持机构为扩孔/攻丝/置钉三合一多功能夹持机构，其包括夹持机构本体410和快拆接头 411，所述夹持机构本体410与所述扭矩传感器322及所述骨钻电机321相连接。扩孔锥503，丝锥504及置钉起子505可以通过快拆接头411快速连接到夹持机构本体410。具体实施例中，所述夹持机构本体410可以通过手拧螺钉与扭矩传感器322连接。
椎弓根螺钉的置入过程一般包括：定位、开底孔、攻丝、置钉。具体应用本申请椎弓根置钉装置时，如置入的是空心椎弓根螺钉，采用本申请椎弓根置钉装置以导针固定机构210将导针501夹持固定，导针502前端插入导管501中，首先通过本申请椎弓根置钉装置根据手术部位和角度将导针502置入，导针用来确定椎弓根螺钉置入的位置和角度，并对扩孔锥、丝锥、螺钉等工具进行导向；再换上扩孔锥503，顺着导针对手术部位进行扩孔；然后换上丝锥504顺着导针沿着扩好的孔进行攻丝；最后换上置钉起子505装上空心螺钉，顺着导针置入螺钉。
如置入的是实心椎弓根螺钉，采用本申请椎弓根置钉装置以导针固定机构210将导针501夹持固定，导针502前端插入导管501中，首先通过本申请椎弓根置钉装置根据手术部位和角度将导针502置入；再换上扩孔锥503，顺着导针对手术部位进行扩孔；然后换上丝锥504顺着导针沿着扩好的孔进行攻丝；最后移除导针，换上置钉起子505装上实心螺钉，顺着攻丝好的螺纹孔置入螺钉。在图3~6实施例中均设有十字激光系统220和双目摄像机600，所述十字激光系统220安装在所述深度推进机构的前端，可以为医生提供准确的患者皮肤切口位置；所述双目摄像机600安装在所述深度推进机构前端下方，通过平台固定座114固定于所述底板111或导轨112下侧，所述双目摄像机600与计算机连接，可以进行跟踪识别及术中监控。
请结合参阅图7和图8，所述双目摄像机在另一些实施例中可以不设置在椎弓根置钉装置上，而是另外设置于其他支架上，且与计算机连接，所述骨钻机构的夹持机构采用另一种实施方式，在夹持机构本体412、422上设有导航面413、423，所述导航面413、423上设有与双目视觉系统相适配的可见光视觉识别跟踪图案，通过追踪智能椎弓根置钉装置上的导航面，进行跟踪监控。
所述椎弓根置钉装置还包括控制电路，所述控制电路用于控制所述椎弓根置钉装置进行置钉操作，同时检测置钉情况，具体的，控制电路通过RSS485或CAN通讯可以与计算机相连，根据术前规划控制工具的各种运动。所述椎弓根置钉装置还包括安装接口601，所述安装接口601可以将所述椎弓根置钉装置安装在骨科手术机器人的机械臂上，实现智能半自动化置钉操作。
本申请还提供一种椎弓根置钉系统，其包括如上所述的椎弓根置钉装置和双目视觉系统，以及计算机，所述双目视觉系统连接所述计算机。
具体的，所述双目视觉系统包括用作双目视觉空间定位的所述双目摄像机，所述双目摄像机连接所述计算机，所述椎弓根置钉装置的骨钻机构的夹持机构上设有导航面，所述导航面上设有与双目视觉系统相适配的可见光视觉识别跟踪图案。通过所述双目视觉系统追踪智能椎弓根置钉装置上的导航面，进行跟踪监控。
以上所述仅为本申请的较佳实施例，本申请的保护范围并不局限于此，任何基于本申请技术方案上的等效变换均属于本申请保护范围之内。

Claims (19)

  1. 一种椎弓根置钉装置，其特征在于，其包括骨钻机构，以及和所述骨钻机构连接并用于产生直线往复运动变量的深度推进机构，所述骨钻机构包括骨钻驱动装置以及由骨钻驱动装置连接驱动的夹持机构。
  2. 如权利要求1所述的椎弓根置钉装置，其特征在于，所述深度推进机构包括丝杠组件、移动平台以及驱动丝杠组件的驱动电机，所述丝杠组件包括滚珠丝杠、丝杠螺母，所述驱动电机连接并驱动所述滚珠丝杠，使得所述丝杠螺母与滚珠丝杠之间产生直线往复的相对运动，所述丝杠螺母与所述移动平台连接，所述骨钻机构安装在所述移动平台上。
  3. 如权利要求2所述的椎弓根置钉装置，其特征在于，所述深度推进机构进一步包括直线导轨和滑块，所述滑块可沿所述直线导轨做直线往复的相对运动，所述滚珠丝杠与所述直线导轨的相对位置固定，所述丝杠螺母固定在所述滑块上。
  4. 如权利要求3所述的椎弓根置钉装置，其特征在于，所述深度推进机构进一步包括联轴器，所述驱动电机通过联轴器联接驱动所述滚珠丝杠，做直线往复运动。
  5. 如权利要求4所述的椎弓根置钉装置，其特征在于，所述深度推进机构进一步包括底板，所述直线导轨与所述底板固定安装，所述底板上设有轴承，所述滚珠丝杠安装在所述轴承中。
  6. 如权利要求5所述的椎弓根置钉装置，其特征在于，所述骨钻机构进一步包括机构安装座和交叉滚柱导轨，所述骨钻驱动装置和所述夹持机构安装在所述机构安装座上，所述交叉滚柱导轨与所述深度推进机构上的移动平台连接，所述骨钻驱动装置和所述夹持机构通过所述机构安装座和所述交叉滚柱导轨与所述移动平台连接。
  7. 如权利要求6所述的椎弓根置钉装置，其特征在于，所述椎弓根置钉装置还包括设置在所述骨钻机构与所述深度推进机构的移动平台之间的压力传感器和缓冲弹簧。
  8. 如权利要求6所述的椎弓根置钉装置，其特征在于，所述骨钻机构进一步包括设置在所述骨钻驱动装置和所述夹持机构之间的扭矩传感器。
  9. 如权利要求1~8任一项所述的椎弓根置钉装置，其特征在于，所述夹持机构为导针夹持机构，其包括夹持机构本体和钻夹头，所述夹持机构本体与所述骨钻驱动装置相连接，所述钻夹头用于夹持导针。
  10. 如权利要求1~8任一项所述的椎弓根置钉装置，其特征在于，所述夹持机构为多功能夹持机构，其包括夹持机构本体和快拆接头，所述夹持机构本体与所述骨钻驱动装置相连接。
  11. 如权利要求1~8任一项所述的椎弓根置钉装置，其特征在于，所述椎弓根置钉装置还包括用于定位导针的导针固定机构。
  12. 如权利要求11所述的椎弓根置钉装置，其特征在于，所述导针固定机构包括固定件、延伸臂、夹臂，所述固定件与所述深度推进机构相对固定安装，所述延伸臂一端安装在固定件上，所述夹臂通过连接轴安装在所述延伸臂另一端，并且所述夹臂相对所述延伸臂可沿连接轴转动，所述夹臂上设有用以夹持导针的夹持孔。
  13. 如权利要求12所述的椎弓根置钉装置，其特征在于，所述导针固定机构进一步包括分别设置于连接轴和夹持孔一侧的调整件。
  14. 如权利要求1~8任一项所述的椎弓根置钉装置，其特征在于，所述椎弓根置钉装置还包括十字激光系统和导管。
  15. 如权利要求14所述的椎弓根置钉装置，其特征在于，所述十字激光系统及导管安装在所述深度推进机构的前端。
  16. 如权利要求1~8任一项所述的椎弓根置钉装置，其特征在于，所述椎弓根置钉装置还包括双目摄像机，所述双目摄像机安装在所述深度推进机构前端，且与计算机连接。
  17. 如权利要求1~8任一项所述的椎弓根置钉装置，其特征在于，所述骨钻机构的夹持机构上设有导航面。
  18. 一种置钉系统，其特征在于，其包括如权利要求1~15任一项所述的椎弓根置钉装置和双目视觉系统，以及计算机，所述双目视觉系统连接所述计算机。
  19. 如权利要求19所述的置钉系统，其特征在于，所述双目视觉系统包括用作双目视觉空间定位的双目摄像机，所述双目摄像机连接所述计算机，所述椎弓根置钉装置的骨钻机构的夹持机构上设有导航面，所述导航面上设有与双目视觉系统相适配的可见光视觉识别跟踪图案。
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