CN116019555A - Optical Target Fixation Components - Google Patents

Abstract

The invention discloses an optical target fixing component, which relates to the field of orthopedic surgery, and comprises the following components: an orthopedic screw, the orthopedic screw comprising: a screw body having a shank with a first thread and a screw head having a mounting hole extending in a direction of an axis thereof and at least one first groove extending in a circumferential direction thereof, the first groove communicating with the mounting hole; and the optical target mechanism is detachably connected with the orthopedic screw through the mounting hole. The problem that optical target can not dismantle from the spicule at any time can be solved to this application, can also solve the problem that bone screw drops easily when installing and removing the instrument and install or dismantle.

Description

Optical Target Fixation Components

technical field

The invention relates to the field of orthopedic surgery, in particular to an optical target fixation component.

Background technique

During orthopedic surgery using an orthopedic surgical robot, it is necessary to set an optical target on the part of the human skeleton to be operated. Through the optical signal reflected by the optical target, the exact position of the bone to be operated can be located, so that the operation can be carried out smoothly.

In the existing operation process, usually 2 to 3 bone pins are directly driven into the bone, and the tail of the bone pin is fixed with a splint-type assembly, thereby fixing the optical target on the bone. However, the above-mentioned fixing method of the optical target takes up a lot of space, and the optical target cannot be disassembled during the operation, because once disassembled, it cannot be assembled back in the original position and direction accurately. For example, in hip replacement surgery, the optical target of the femur is generally fixed on the femur in the surgical incision. Due to the needs of the surgical process, after bone registration and registration, the optical target of the femur needs to be disassembled, osteotomy, and prosthesis installation Finally, the optical target of the femur needs to be reinstalled to verify the effect of the prosthesis installation. On the other hand, existing conventional orthopedic screws cannot be held by assembly and disassembly tools so that the orthopedic screws do not fall off. For example, in hip replacement surgery, the surgical incision is small and deep, and the space is narrow. It is easy to fall off when disassembled, and it is not easy to find and take it out once it falls into the cutout.

Contents of the invention

In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide an optical target fixation assembly, which can solve the problem that the optical target cannot be The problem that the assembly and disassembly tools are easy to fall off during installation or disassembly.

The concrete technical scheme of the embodiment of the present invention is:

An optical target fixing assembly, the optical target fixing assembly includes:

An orthopedic screw, the orthopedic screw includes: a shank with a first thread and a screw body with a screw head, the screw head has a mounting hole extending along its own axis direction and at least one first groove extending along its own circumferential direction body, the first groove communicates with the installation hole; and

The optical target mechanism is detachably connected to the orthopedic screw through the installation hole.

Preferably, the optical target mechanism includes: a support rod and an optical target mounted on the support rod; one end of the support rod is screwed in the installation hole through a threaded connection; or, the support rod One end is installed in the installation hole by plugging; or, one end of the support rod is installed in the installation hole by magnetic attraction.

Preferably, the end surface of the screw head has a groove extending along its circumferential direction.

Preferably, an elastic member is arranged in the groove; a limit protrusion is provided on the side wall of the support rod; when one end of the support rod is installed in the installation hole, the limit protrusion Tighten the elastic.

Preferably, the support rod has a limiting protrusion that protrudes along the axial direction of the support rod and can enter the groove; when one end of the support rod is installed in the installation hole, the The limiting protrusion enters the groove.

Preferably, the screw head has at least one second groove extending along its radial direction, the second groove intersects the mounting hole, the second groove intersects the first groove .

Preferably, the second trough communicates with the middle of the first trough, and both ends of the first trough respectively have limiting notches extending away from the rod.

Preferably, there are two second grooves and two first grooves respectively, and the two second grooves and the two first grooves are arranged symmetrically with respect to the axis of the screw head.

Preferably, the orthopedic screw includes: a washer capable of being sleeved outside the screw body, the washer has a first end surface and a second end surface facing away from each other, and the second end surface faces the rod body, so The second end surface has at least one resistance increasing portion, and the screw body has a limiting portion, and the limiting portion can be against the first end surface to limit the washer.

Preferably, the screw body has an annular recess and an annular protrusion, and the annular recess is located between the limiting portion and the annular protrusion; the inner side wall of the washer can be embedded in the annular In the recessed portion, when the limiting portion abuts against the first end surface, the resistance increasing portion exceeds the end surface of the annular protrusion facing the rod body.

Preferably, the inner wall of the gasket embedded in the annular recess has a second thread, and the outer wall of the annular protrusion has a third thread that can cooperate with the second thread; the first The direction of rotation of the thread is opposite to that of the second thread.

Preferably, the end face of the limiting part facing the gasket has a plurality of first tooth-shaped bosses arranged in the circumferential direction, and the first end face has a plurality of teeth-shaped bosses arranged in the circumferential direction that can be aligned with the first The second toothed boss matched with the second toothed boss.

Preferably, the optical target fixation assembly further includes: an installation wrench for dismounting and installing the orthopedic screw, the installation wrench includes: an installation interface, the installation interface includes a rotating rod body and a side wall connected to the rotating rod body The rotating rod extends radially to limit the rod; the rotating rod can be inserted into the installation hole, and the limiting rod can match the first groove to drive the orthopedic screw to rotate.

The technical solution of the present invention has the following significant beneficial effects:

1. The orthopedic screw in the optical target fixation assembly of the present application can be mounted on human bones, and the optical target mechanism can be detachably connected to the orthopedic screw through the mounting hole in the head of the screw. Therefore, the orthopedic screw can always be fixed on the bone without removal during the whole operation process, and the optical target mechanism can be assembled and disassembled during the operation as needed to make room for the operation.

2. When the orthopedic screw needs to be screwed into or unscrewed from the human bone, the installation hole can be inserted into the rotating rod of the installation wrench, so that the limit rod of the installation wrench can enter the first groove through the second groove After that, the operator can turn the installation wrench as needed to screw the orthopedic screw into or out of the human bone. Since the stop rod is located in the first groove, the orthopedic screw will not easily disengage from the stop rod, which reduces the need for the installation wrench to start screwing the orthopedic screw into the human bone or fully unscrew the orthopedic screw from the human bone The possibility of orthopedic screws detaching from the installation wrench reduces the possibility of orthopedic screws falling into the incision of the human body at this time, avoiding the need for operators to hold the orthopedic screws with their hands, and improving the efficiency, safety and reliability of surgery .

With reference to the following description and accompanying drawings, there are disclosed in detail specific embodiments of the invention, indicating the manner in which the principles of the invention may be employed. It should be understood that embodiments of the invention are not limited thereby in scope. Features described and/or illustrated with respect to one embodiment can be used in the same or similar manner in one or more other embodiments, in combination with, or instead of features in other embodiments .

Description of drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only schematic and are used to help the understanding of the present invention, and do not specifically limit the shapes and proportional dimensions of the components in the present invention. Under the teaching of the present invention, those skilled in the art can select various possible shapes and proportional dimensions according to specific situations to implement the present invention.

Fig. 1 is the three-dimensional structure schematic diagram of orthopedic screw in the embodiment of the present invention;

Fig. 2 is a schematic diagram of the three-dimensional structure of an orthopedic screw at another angle in an embodiment of the present invention;

Fig. 3 is the front view of the orthopedic screw in the embodiment of the present invention;

Fig. 4 is a side view of an orthopedic screw in an embodiment of the present invention;

5 is a cross-sectional view of an orthopedic screw in an embodiment of the present invention;

Fig. 6 is a schematic diagram of a three-dimensional structure of a screw body in an embodiment of the present invention;

Fig. 7 is a schematic diagram of the three-dimensional structure of the screw body at another angle in the embodiment of the present invention;

8 is a schematic diagram of a three-dimensional structure of a gasket in an embodiment of the present invention;

Fig. 9 is a schematic diagram of the three-dimensional structure of the gasket at another angle in the embodiment of the present invention;

Fig. 10 is a schematic perspective view of the three-dimensional structure of the screw body in another embodiment of the embodiment of the present invention;

Fig. 11 is a schematic structural view of installing a wrench in an embodiment of the present invention;

Fig. 12 is a partial enlarged schematic diagram of the installation wrench in the embodiment of the present invention;

Fig. 13 is a schematic diagram of installing a wrench to install an orthopedic screw in an embodiment of the present invention;

Fig. 14 is a schematic diagram of installing a wrench to remove an orthopedic screw in an embodiment of the present invention;

Fig. 15 is a schematic structural view of the optical target fixing assembly in the first embodiment of the embodiment of the present invention;

Fig. 16 is a schematic structural view of the optical target fixing assembly in the second embodiment of the embodiment of the present invention;

Fig. 17 is a schematic structural view of the optical target fixing assembly in the embodiment of the present invention under the third embodiment;

Fig. 18 is a schematic structural view of the optical target fixing assembly in the fourth embodiment of the embodiment of the present invention;

Figure 19 is a cross-sectional view of the connection between the support rod and the orthopedic screw in the embodiment of the present invention;

Fig. 20 is a schematic diagram of an orthopedic screw installed on a femur in an embodiment of the present invention;

Fig. 21 is a schematic view of the optical target fixation assembly installed on the femur in the embodiment of the present invention.

Detailed ways

The details of the present invention can be understood more clearly with reference to the accompanying drawings and the description of specific embodiments of the present invention. However, the specific embodiments of the present invention described here are only for the purpose of explaining the present invention, and should not be construed as limiting the present invention in any way. Under the teaching of the present invention, the skilled person can conceive any possible modification based on the present invention, and these should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted", "connected" and "connected" should be interpreted in a broad sense, for example, it may be a mechanical connection or an electrical connection, or it may be the internal communication of two components, either directly or indirectly through an intermediary, Those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terminology used herein in the description of the application is only for the purpose of describing specific embodiments, and is not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In order to solve the problem that the optical target cannot be disassembled from the bone needle at any time and the orthopedic screw is easy to fall off from the bone when the assembly or disassembly tool is installed or disassembled, an optical target fixation assembly is proposed in this application, as shown in Figure 1 to As shown in Fig. 10, Fig. 13 to Fig. 19, the optical target fixation assembly may include: an orthopedic screw 1 and an optical target mechanism. The orthopedic screw 1 may include: a screw body 11 . Wherein, the screw body 11 includes a shaft body 111 having a first thread 1111 and a screw head 112 . The rod body 111 with the first thread 1111 is used to be screwed into the human skeleton 100, the screw head 112 is exposed outside the human skeleton 100, and the screw head 112 is used for the operator to operate the orthopedic screw 1 so that it can be carried out on the human skeleton 100. Installation and removal.

As feasible, as shown in FIG. 1 to FIG. 7 , FIG. 20 and FIG. 21 , the top of the rod body 111 may have a self-tapping head 1112 , so that the orthopedic screw 1 can be drilled into the human bone 100 conveniently. As feasible, the first thread 1111 may be a cancellous bone thread, may also be a cortical bone thread, or may be a combination of cancellous bone thread and cortical bone thread in sections. Certainly, the first thread 1111 may be a left-handed thread or a right-handed thread, which may be determined according to actual needs.

As shown in FIG. 1 to FIG. 7 and FIG. 21 , the screw head 112 of the screw body 11 of the orthopedic screw 1 is used to achieve detachable connection with the optical target mechanism. The screw head 112 may have a mounting hole 1121 extending along its axis, and the mounting hole 1121 is used for detachable connection with the optical target mechanism. The optical target mechanism may include: a support rod 2 and an optical target 3 installed on the support rod 2 . One end of the support rod 2 can be detachably connected to the mounting hole 1121 of the screw head 112 in various ways. For example, as shown in FIG. 19 , the mounting hole 1121 has an internal thread, one end of the support rod 2 has an external thread, and one end of the support rod 2 is screwed into the mounting hole 1121 through a threaded connection. For another example, one end of the support rod 2 can be installed in the installation hole 1121 by inserting. The outer wall of the support rod 2 may have a clamping structure or a resistance increasing structure. When the support rod 2 needs to be disassembled from the installation hole 1121 , it is necessary to increase some force to pull the support rod 2 out of the installation hole 1121 . In order to ensure the relative angle between one end of the support rod 2 inserted in the mounting hole 1121, the radial cross-section of the mounting hole 1121 and one end of the support rod 2 can be designed as a non-symmetrical structure along the center, so that Ensure that one end of the support rod 2 is inserted into the mounting hole 1121 at a fixed relative angle. For another example, one end of the support rod 2 may be magnetically installed in the installation hole 1121 . One end of the support rod 2 is magnetic, and the inner wall of the mounting hole 1121 is also magnetic. When one end of the support rod 2 is installed in the mounting hole 1121, the two are fixed by magnetic attraction. When one end of the support rod 2 needs to be disassembled It is only necessary to take out one end of the support rod 2 from the mounting hole 1121 with force. Similarly, in order to ensure the relative angle between one end of the support rod 2 installed in the installation hole 1121, the radial cross section of the installation hole 1121 and one end of the support rod 2 can also be designed to be non-symmetrical along the center. The detachable connection between one end of the support rod 2 and the mounting hole 1121 can be realized through the above-mentioned several methods, and then the detachable connection of the support rod 2 during the operation can be realized. In addition, the connection between the support rod 2 and the orthopedic screw 1 can be ensured. The firmness of the connection. In the above structure, as shown in FIG. 20 , the orthopedic screw 1 can be fixed on the human bone 100 during the whole operation and does not need to be removed, and the optical target 3 and the support rod 2 can be removed or installed during the operation to make room for The operation space, and after repeated installation, the position and direction of the optical target can also be kept the same as before.

In order to facilitate the operator to screw the orthopedic screw 1 into or out of the human bone 100, as shown in Figures 1 to 7, the screw head 112 has at least one first groove extending along its circumferential direction Body 1123. The first groove body 1123 communicates with the installation hole 1121 . Specifically, in the radial direction of the screw head 112 , the inside of the first groove body 1123 communicates with the installation hole 1121 in the middle of the screw head 112 .

As shown in Figures 11 and 12, the optical target fixation assembly may include: an installation wrench for dismounting and installing the orthopedic screw 1. The installation wrench 7 is used to screw the orthopedic screw 1 into or out of the human bone 100 out. The installation wrench 7 may include a handle 71 , an installation interface 73 and a connecting rod 72 connecting the handle 71 and the installation interface 73 . The installation interface 73 may include a rotating rod body 731 and a limiting rod 732 connected to a side wall of the rotating rod body 731 and extending radially along the rotating rod body 731 . The number and position of the limiting rods 732 can match the number and position of the first groove body 1123 . When the orthopedic screw 1 is screwed into or unscrewed from the human skeleton 100, as shown in Figure 13 and Figure 14, the rotating rod body 731 is inserted into the installation hole 1121, at the same time, the limit rod 732 can extend into the first groove body 1123, so as to match with the first groove body 1123, after that, the operator can turn the installation wrench 7 as required to drive the orthopedic screw to rotate, so as to screw the orthopedic screw 1 into the human body In the bone 100 or screw out from the human skeleton 100. Because the limiting rod 732 is located in the first groove 1123, the orthopedic screw 1 will not be easily disengaged from the limiting rod 732, which can reduce the time for the installation wrench 7 to start screwing the orthopedic screw 1 into the human bone 100. When the orthopedic screw 1 is fully unscrewed from the human bone 100, the possibility that the orthopedic screw 1 is detached from the installation wrench 7 reduces the possibility that the orthopedic screw 1 falls into the incision of the human body at this time, and avoids the need for the operator to hold the orthopedic screw with his hands. The operation of the screw 1 improves the efficiency, safety and reliability of the operation.

Further, in order to make the limit rod 732 more convenient to extend into the first groove 1123, and the length of the limit rod 732 can be extended, so that it is more convenient to install the wrench 7 to drive the orthopedic screw 1 to rotate, the screw head The part 112 also has at least one second groove body 1122 extending along the radial direction of itself. The second groove body 1122 extends from the axis of the screw head 112 along the radial direction of the screw head 112. One end of the second groove body 1122 is connected to the The mounting holes 1121 in the middle of the screw head 112 intersect each other, and the other end of the second groove body 1122 may or may not pass through the side wall of the screw head 112 . Under the above structure, the limit rod 732 can first enter into the second groove body 1122, and after the limit rod 732 enters the intersection of the second groove body 1122 and the first groove body 1123, the operator can turn the handle 71 so that The limit rod 732 rotates and enters into the first groove body 1123 , at this time, the installation of the wrench 7 and the orthopedic screw 1 is completed. Afterwards, the operator can turn the installation wrench 7 as required to drive the orthopedic screw to rotate, thereby screwing the orthopedic screw 1 into or out of the human skeleton 100 .

Further, as shown in Figures 1 to 7, there may be two second grooves 1122, and the number of first grooves 1123 is also two, and the two second grooves 1122 are arranged symmetrically with respect to the axis of the screw head 112 , the two first grooves 1123 are arranged symmetrically with respect to the axis of the screw head 112 , and may be located on the diameter of the orthopedic screw 1 . Correspondingly, as shown in FIG. 11 and FIG. 12 , there are also two limiting rods 732 on the installation wrench 7 , which are arranged symmetrically relative to the rotating rod body 731 , so that the two limiting rods 732 are located on the same straight line. As shown in Figures 1 to 7, Figure 20 and Figure 21, when the two stop rods 732 of the installation wrench 7 respectively enter the two first grooves 1123 of the orthopedic screw 1, the orthopedic screw 1 is screwed into the human bone 100 When being inserted into or unscrewed from the human skeleton 100, the rotation fit process between the installation wrench 7 and the orthopedic screw 1 is more stable, and the rotation torque applied by the installation wrench 7 to the orthopedic screw 1 is more balanced.

Further, as shown in FIG. 1 to FIG. 7 , FIG. 20 and FIG. 21 , the second groove body 1122 intersects with the middle part of the first groove body 1123 . In this way, when the orthopedic screw 1 is screwed into or unscrewed from the human skeleton 100, the limit rod 732 of the installation wrench 7 can always be located in the first groove body 1123 of the orthopedic screw 1, for example, the orthopedic screw 1 is screwed out. The orthopedic screw 1 may be located at one end of the first groove body 1123 when inserted into the human bone 100 , and may be located at the other end of the first groove body 1123 when the orthopedic screw 1 is unscrewed out of the human bone 100 . Two ends of the first groove body 1123 respectively have limiting notches 11231 extending away from the rod body 111 .

Through the above structure, when the orthopedic screw 1 is screwed into or unscrewed from the human skeleton 100, the limit rod 732 of the installation wrench 7 can be in the first groove 1123 and enter the limit gap 11231, so that the orthopedic The screw 1 cannot be easily rotated on the installation wrench 7, and the orthopedic screw 1 is more difficult to disengage from the installation interface 73 of the installation wrench 7, further reducing the possibility of the orthopedic screw 1 falling into the incision of the human body during the operation.

As shown in FIG. 1 , FIG. 5 and FIG. 7 , the end surface of the screw head 112 facing away from the rod body 111 may have a groove 1124 extending along its circumferential direction, and this end surface is the end surface facing away from the rod body 111 . An elastic member 11241 may be disposed in the groove 1124 . The elastic member 11241 is slightly higher than the end surface of the screw head 112 . There may be one groove 1124, or a plurality of grooves arranged in a circumferential direction. The elastic member 11241 can be made of compressively deformable elastic material. As shown in FIG. 19 , the sidewall of the support rod 2 screwed into the orthopedic screw 1 may have a limiting protrusion 21 , and the limiting protrusion 21 may be located in the entire circumferential direction of the side wall of the supporting rod 2 . When the support rod 2 is screwed into the orthopedic screw 1, the elastic member 11241 is squeezed and deformed by the stop protrusion 21, and the stop protrusion 21 finally contacts the end surface of the screw head 112, because the elastic member 11241 and the stop protrusion 21 As the pressure increases, the static friction between the two increases, so the support rod 2 is not easy to rotate in the circumferential direction, so the elastic member 11241 can prevent the support rod 2 from loosening from the orthopedic screw 1 . On the other hand, due to the existence of the elastic member 11241, when the operation steps that will generate vibration are performed on human bones, the elastic member 11241 can reduce the degree of vibration transmitted from the orthopedic screw 1 to the optical target mechanism, thereby reducing the vibration of the optical target mechanism. The possibility of a change in attitude.

In another embodiment, the support rod 2 has a limiting protrusion protruding along the axial direction of the support rod 2 and capable of entering the groove 1124; when one end of the support rod 2 is installed in the installation hole 1121 , with the rotation of the support rod 2, the position-limiting protrusion enters the groove 1124, thereby realizing the positioning between the support rod 2 and the screw head 112, and at the same time, due to the existence of the position-limiting protrusion, the support rod 2 is not easy to move in the circumferential direction. Rotate in the direction so as to prevent the support rod 2 from loosening from the orthopedic screw 1. In other feasible implementation manners, as shown in FIG. 10 , the end surface of the screw head 112 facing away from the rod body 111 may not have a groove 1124 extending along its circumferential direction.

The optical target 3 is used to install an optical positioning mark 6 . Specifically, as shown in FIGS. 15 to 17 , the optical target 3 may have a plurality of optical positioning marks 6 . The optical positioning mark 6 includes at least one of the following: a passive infrared reflective ball 61 , a retroreflective ball lens 62 , and a plane reflective film 63 . The positions and distances between the multiple optical positioning marks 6 on the optical target 3 may have a certain relationship for optical positioning.

The relative posture between the optical target 3 and the support rod 2 can be adjusted. In a feasible implementation manner, as shown in FIG. 18 , the optical target 3 and the support rod 2 are connected through a ball hinge structure 4 . The optical target fixing assembly further includes: a first locking member 41 for locking and fixing the optical target 3 and the support rod 2 . Specifically, the optical target 3 may have an adjustment rod, and the adjustment rod and the support rod 2 are connected through a ball hinge structure 4, and the ball hinge structure 4 may have adjustments of three degrees of freedom, namely pitch, yaw and roll adjustment. After the adjustment is completed, the first locking member 41 can be locked, so that the adjustment rod and the support rod 2 can no longer rotate through the ball hinge structure 4 .

In another feasible implementation manner, as shown in FIGS. 15 to 17 , the optical target 3 and the support rod 2 may be connected through a direction adjustment mechanism 5 . The direction adjusting mechanism 5 can rotate and lock around the axis of the support rod 2 . The direction adjusting mechanism 5 has a horizontal rod 51 perpendicular to the support rod 2, the optical target 3 is connected to the horizontal rod 51, and can rotate around the axis of the horizontal rod 51 and be locked. The adjustment of two degrees of freedom can be realized through the above structure. Specifically, the direction adjusting mechanism 5 includes a rotating member, a second locking member 52 and a third locking member 53, the rotating member can be sleeved on the support rod 2, and the rotating member can rotate around the axis of the supporting rod 2, The second locking member 52 can be used to lock the rotating member and the support rod 2 . When the second locking member 52 is tightened, the rotating member and the support rod 2 are locked and cannot be rotated relative to each other. When the second locking member 52 is loosened, the rotating member and the supporting rod 2 can be rotated relative to each other for adjustment. . There is a horizontal bar 51 on the rotating part. The optical target 3 can have an adjustment rod, which can be sleeved on the horizontal rod 51 and can rotate around the horizontal rod 51 . The third locking member 53 can be used to lock the adjusting rod and the horizontal rod 51 . When the third locking member 53 is tightened, the adjustment rod and the horizontal rod 51 are locked and cannot rotate relative to each other. When the third locking member 53 is loosened, relative rotation can occur between the adjustment rod and the horizontal rod 51 for adjustment. . The adjustment of two degrees of freedom can be realized through the above structure. Furthermore, if the adjusting rod can rotate around its own axis, the direction adjusting mechanism 5 can also realize the adjustment of three degrees of freedom.

The use process of the optical target fixing assembly can be as follows: as shown in Figure 20, first use the installation wrench 7 to screw the orthopedic screw 1 into the human bone 100 and install it in place, then as shown in Figure 21, screw the lower end of the support rod 2 into the orthopedic In the installation hole 1121 of the screw 1 , the optical target is connected to the upper end of the support rod 2 , and then the optical positioning mark 6 is installed on the optical target 3 . Through the above process, the optical target is rigidly connected to the human skeleton 100 . The posture of the optical target 3 can be adjusted through the direction adjustment mechanism 5 or the ball hinge structure 4, so that the optical target 3 can be recognized by the optical navigation device.

If during the operation, the optical target 3 needs to be removed from the human bone 100 to free up the operation space and facilitate the operation, then only the support rod 2 needs to be rotated so that the support rod 2 can be removed from the installation hole 1121 of the orthopedic screw 1. Just take it out. If it is necessary to connect the optical target 3 to the human skeleton 100 later, the support rod 2 can be rotated to fit it into the installation hole 1121 .

As feasible, the orthopedic screw 1 may include: a washer 12 that can be sleeved on the outside of the screw body 11 . The screw body 11 and the washer 12 can be assembled together, or can be disassembled and separated, and the two are assembled together during use. The gasket 12 can be in various shapes, as long as it can be sleeved on the screw body 11 , for example, the gasket 12 can be sleeved on the rod body 111 of the screw body 11 . The gasket 12 has a first end surface 121 and a second end surface 122 opposite to each other. When the screw body 11 and the washer 12 are assembled and connected together, the second end surface 122 faces the rod body 111 , and the first end surface 121 faces the screw head 112 . The second end surface 122 has at least one resistance increasing portion 1221 . There may be multiple resistance increasing parts 1221 , which may be distributed around the axis of the gasket 12 in a circle.

As shown in Figures 1 to 7, the screw body 11 has a limiting portion 113, which faces the top end of the rod body 111. When the screw body 11 and the washer 12 are assembled and connected together, the limiting portion 113 can resist The first end surface 121 is used to limit the washer 12 so as to prevent the washer 12 from detaching from the screw body 11 from one end of the screw head 112 . As shown in Figure 20, when the orthopedic screw 1 is installed on the human skeleton 100, the gasket 12 is in contact with the human skeleton 100, and the resistance increasing part 1221 is passed between the two to position the gasket 12 and the human skeleton 100 to prevent the gasket 12 from 12 turns. When the rod body 111 is screwed into the human skeleton 100, the limiting part 113 is against the first end surface 121 to limit the gasket 12, and exerts pressure on the gasket 12 in the direction of the human skeleton 100, so that the gasket 12 Compress the human skeleton 100, and further increase the resistance between the two by increasing the pressure between the gasket 12 and the human skeleton 100, so that the gasket 12 firmly grasps the surface of the human skeleton 100, and the human skeleton 100 is better Perform positioning to prevent the gasket 12 from rotating, and the gasket 12 can also be stably arranged on the human skeleton 100. Finally, the screw body 11 is screwed into the human skeleton 100 and can stably and firmly resist the gasket 12 without shaking from side to side. It is also not easy to loosen, and the entire orthopedic screw 1 is firmly fixed on the human bone 100, so that the optical target 3 can be connected to the orthopedic screw 1 through the support rod 2 in the later stage, ensuring that the entire operation process is safer and more reliable.

Since the orthopedic screw 1 in the present application can be firmly connected to the human skeleton 100, the original need for 2 to 3 connecting structures connected to the human skeleton 100 in the prior art, such as bone needles, is reduced to 1, thus achieving the goal of orthopedics. The effect that the screw 1 takes up less space on the surface of the human bone 100 can also make the entire optical target fixation component occupy less operation space in the later stage.

In order to further increase the friction between the resistance increasing part 1221 and the human skeleton 100, as shown in Figure 8, the resistance increasing part 1221 can be in the shape of a thorn, and the shape of the thorn can be conical, or a combination of a cone and a cylinder. The shape may also be a pyramid, etc., which are not limited in any way in this application.

As shown in FIG. 5 , the screw body 11 has an annular recess 114 and an annular protrusion 115 . The annular concave portion 114 is located between the limiting portion 113 and the annular protruding portion 115 . The inner sidewall of the gasket 12 can fit into the annular recess 114 . The annular protrusion 115 can limit the inner side wall of the gasket 12 embedded in the annular recess 114, thereby preventing the gasket 12 from breaking away from the screw body 11 through the annular protrusion 115, so that the gasket 12 is not easy to disengage from the screw body 11. , so as to prevent the gasket 12 from falling off and falling into the incision of the human body during the installation or removal of the orthopedic screw 1, thereby improving the efficiency of the operation. When the stopper 113 abuts against the first end face 121, the resistance increasing portion 1221 exceeds the end face of the annular protrusion 115 facing the rod body 111, thereby ensuring that the resistance increasing portion 1221 can Make contact with human skeleton 100 to increase resistance for positioning.

Further, as shown in FIG. 5 , the inner wall of the gasket 12 embedded in the annular recess 114 may have a second thread 123 , and the outer wall of the annular protrusion 115 may have a third thread that can cooperate with the second thread 123 1151. The gasket 12 may include a first partial gasket 12 and a second partial gasket 12 in the axial direction. The inner diameter of the first part of the gasket 12 is smaller than the inner diameter of the second part of the gasket 12 . The inner sidewall of the first partial gasket 12 is embedded in the annular recess 114 . The inner side wall of the first partial gasket 12 has a second thread 123 . The inner diameter of the second partial gasket 12 is larger than the outer diameter of the annular protrusion 115 . When the gasket 12 needs to be embedded in the annular recess 114, the gasket 12 can be inserted from the rod body 111, and then screwed into the third thread 1151 of the annular protrusion 115 through the second thread 123 of the gasket 12, so that the second A part of the gasket 12 is inserted into the annular recess 114 through the annular protrusion 115 . Through the above method, it can be realized that the washer 12 is installed on the screw body 11 and cannot easily fall out from the screw body 11 . The rotation direction of the first thread 1111 and the second thread 123 can be opposite, so designed, when the screw body 11 is unscrewed from the human bone 100 and rotated, the screw body 11 will not rotate out of the washer 12, and the screw body will not be damaged. The main body 11 is separated from the spacer 12, so the spacer 12 cannot fall into the incision of the human body.

As feasible, as shown in FIG. 6 , the end surface of the stopper 113 facing the gasket 12 has a plurality of first tooth-shaped bosses 1131 arranged in the circumferential direction. As shown in FIG. 9 , the first end surface 121 has a There are a plurality of second toothed bosses 1211 arranged in the circumferential direction and capable of cooperating with the first toothed bosses 1131 . A limiting portion 113 can be formed on the lower end surface of the screw head 112 facing the rod body 111 . When the gasket 12 abuts against the stopper 113, the first toothed boss 1131 can cooperate with the second toothed boss 1211 to engage and lock. The cross section of the toothed boss in the circumferential direction of the gasket 12 It can be rectangular, trapezoidal, triangular, semicircular, arc, etc., and is not specifically limited in this application. When the orthopedic screw 1 is screwed into the human bone 100, until the resistance increasing part 1221 of the spacer 12 contacts and compresses the human bone 100, the spacer 12 no longer rotates, and then the first toothed boss 1131 of the limiting part 113 and the The second toothed bosses 1211 of the washer 12 engage with each other and make a "click" sound and vibration, which means that the orthopedic screw 1 is installed in place. When the orthopedic screw 1 is installed in place on the human bone 100 , the tooth-shaped boss can effectively increase the friction between the screw body 11 and the washer 12 to prevent the screw body 11 and the washer 12 from loosening.

This application also proposes an orthopedic robot, including: a navigation trolley, a robotic arm trolley, a robotic arm, an optical navigation and positioning device, a computer, and any of the above-mentioned optical target fixing components. The optical navigation positioning equipment is arranged on the navigation trolley, the mechanical arm is installed on the mechanical arm trolley, and the optical navigation positioning equipment, the navigation trolley, the mechanical arm and the mechanical arm trolley are connected by communication cables. The orthopedic screw 1 is used to fix the optical target 3 on the human bone 100, the optical target 3 is equipped with an optical positioning mark 6, and the optical positioning mark 6 reflects the light in the environment to the optical navigation and positioning equipment to locate the optical target fixing component. Human skeleton 100.

All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of" describing a combination shall include the identified elements, ingredients, parts or steps as well as other elements, ingredients, parts or steps that do not substantially affect the basic novel characteristics of the combination. Use of the terms "comprising" or "comprising" to describe a combination of elements, ingredients, parts or steps herein also contemplates an embodiment that consists essentially of these elements, ingredients, parts or steps. By using the term "may" herein, it is intended that inclusion of "may" in any of the described attributes is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step may be divided into separate plural elements, ingredients, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not meant to exclude other elements, ingredients, components or steps.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the protection scope of the present invention.

Claims (13)

1. An optical target fixing assembly, characterized in that, the optical target fixing assembly comprises: An orthopedic screw, the orthopedic screw includes: a screw body, the screw body includes a shank with a first thread and a screw head, the screw head has a mounting hole extending along its own axis direction and at least one an extended first groove, the first groove communicates with the installation hole; and The optical target mechanism is detachably connected to the orthopedic screw through the installation hole. 2. The optical target fixing assembly according to claim 1, wherein the optical target mechanism comprises: a support rod and an optical target mounted on the support rod; one end of the support rod is screwed through a threaded connection. set in the installation hole; or, one end of the support rod is installed in the installation hole by plugging; or, one end of the support rod is installed in the installation hole by magnetic attraction. 3. The optical target fixing assembly according to claim 2, wherein the end surface of the screw head has a groove extending along its circumferential direction. 4. The optical target fixing assembly according to claim 3, wherein an elastic member is arranged in the groove; a limit protrusion is provided on the side wall of the support rod; when one end of the support rod is installed When in the installation hole, the limiting protrusion is pressed against the elastic member. 5. The optical target fixing assembly according to claim 3, wherein the support rod has a limit protrusion protruding along the axial direction of the support rod and capable of entering the groove; when the When one end of the support rod is installed in the installation hole, the limiting protrusion enters the groove. 6. The optical target fixing assembly according to claim 1, wherein the screw head has at least one second groove extending along its radial direction, and the second groove intersects the mounting hole , the second groove intersects the first groove. 7. The optical target fixing assembly according to claim 6, wherein the second groove body intersects with the middle part of the first groove body, and the two ends of the first groove body respectively have Limiting gap extending in the direction of the rod body. 8. The optical target fixing assembly according to claim 6, wherein there are two second grooves and two first grooves, and the two second grooves are opposite to the screw head The two first grooves are arranged symmetrically with respect to the axis of the screw head. 9. The optical target fixation assembly according to claim 1, wherein the orthopedic screw comprises: a washer capable of being sleeved outside the screw body, and the washer has a first end surface facing away from it and a The second end surface, the second end surface faces the rod body, the second end surface has at least one resistance increasing portion, the screw body has a limiting portion, and the limiting portion can be against the first end surface to The pads are used for positioning. 10. The optical target fixing assembly according to claim 9, wherein the screw body has an annular recess and an annular protrusion, and the annular recess is located at the stopper and the annular protrusion Between; the inner side wall of the gasket can be embedded in the annular recessed part, when the limiting part is against the first end surface, the resistance increasing part exceeds the annular raised part toward the rod body end face. 11. The optical target fixing assembly according to claim 10, wherein the inner wall of the washer embedded in the annular recess has a second thread, and the outer wall of the annular protrusion has a A third thread that matches the second thread; the rotation direction of the first thread is opposite to that of the second thread. 12. The optical target fixing assembly according to claim 9, characterized in that, the end surface of the limiting part facing the gasket has a plurality of first tooth-shaped bosses arranged in the circumferential direction, the first There are a plurality of second toothed bosses arranged in the circumferential direction on the end surface, which can cooperate with the first toothed bosses. 13. The optical target fixation assembly according to claim 1, wherein the optical target fixation assembly further comprises: an installation wrench for dismounting and installing the orthopedic screw, the installation wrench includes: an installation interface, the The installation interface includes a rotating rod body and a limiting rod connected to the side wall of the rotating rod body and extending radially along the rotating rod body; the rotating rod body can be inserted into the installation hole, and the limiting rod can be connected to the first The grooves match to drive the orthopedic screw to rotate.

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