CN116509500A - Bendable structure and vertebral plate forming abrasive drill thereof - Google Patents

Abstract

The present disclosure provides a bendable structure and a vertebral plate forming abrasive drill thereof, wherein one end of a first shell is provided with an angle control member; the angle control piece is provided with a first through hole; the center of each annular lamination of the plurality of annular laminations is provided with a second through hole, the outer edge of the annular lamination is provided with a plurality of third through holes along the circumferential direction, each annular lamination is arranged along the axial direction of the central shaft at intervals of a distance L, and the central shaft sequentially connects the annular laminations in series through the second through holes of the annular laminations; one end of each traction rope is respectively fixed to the first annular lamination, each traction rope sequentially passes through a corresponding third through hole of each annular lamination, the other end of each traction rope is respectively fixed to an angle control piece, and the angle control piece controls the traction rope to drive the bendable structure to bend in all directions; the vertebral plate forming abrasive drill comprises a bendable structure and a drill bit, and the bendable structure drives the drill bit to reach a target point and accurately abrades vertebrae and decompresses when realizing extension, buckling or bending functions.

Description

Bendable Structure and Its Lamina Forming Grinding Drill

technical field

The disclosure relates to the field of medical technology equipment, in particular to a bendable structure and a lamina forming burr.

Background technique

Spinal stenosis is a series of clinical symptoms caused by changes in the structure of the vertebral body and soft tissues due to various reasons, resulting in narrowing of the spinal canal, intervertebral foramen and lateral recesses, compression of the nerves, and a series of clinical symptoms. The traditional surgical treatment method for spinal stenosis is laminectomy to achieve full decompression of the spinal canal, but this surgical method has great damage to the posterior structure of the spine, and the potential risk of decompression is that it is easy to cause damage to the stability of the spine. Percutaneous endoscopic decompression of the spinal canal is the development direction of the surgical treatment of spinal stenosis in the future. Its advantages are that it can reduce bleeding, reduce the stripping and damage of paravertebral muscles, and reduce postoperative epidural and nerve root damage. The formation of nearby scar tissue can restore functional exercise early and reduce the hospitalization time of patients.

However, this operation is highly dependent on the operation accuracy of medical personnel. After receiving professional training, medical personnel can cooperate with robots to perform surgery, which can shorten the learning time of medical personnel and improve the accuracy and stability of operation. However, intraoperative CT positioning increases the radiation dose received by the patient, and long-term positioning using the navigation system may cause body position changes, "drift" phenomenon, and lack of real-time image monitoring, resulting in errors. The existing forming burr can't bend and remove the lamina according to the operation point, and can't effectively and accurately decompress, which increases the risk of surgical sequelae. Therefore, there is an urgent clinical need for a burr that can be bent to the operative point according to clinical needs and implement effective and precise decompression in the surgical treatment of spinal stenosis.

Contents of the invention

The purpose of the present disclosure is to provide a bendable structure that can be bent according to clinical needs and a lamina forming burr containing the bendable structure, through which operations such as side bending, buckling and elongation can be realized, and the burr's The grinding head moves to the vicinity of the target point, and the angle of the grinding head is adjusted according to the needs of use, so as to achieve precise clearing of bone fragments, effective decompression and reduction of surgical trauma in the surgical treatment of spinal stenosis.

In order to achieve the above purpose, the present disclosure provides a bendable structure, including:

A first housing; one end of the first housing is provided with an angle control member; the angle control member is provided with a first through hole;

a central shaft, one end of the central shaft is fixed to the inside of the first housing, and the other end of the central shaft passes through the first through hole and protrudes from the first housing;

A plurality of annular laminations, the center of the annular laminations is provided with a second through hole, and the outer edge of the annular laminations is provided with a plurality of third through holes along the circumferential direction, each annular lamination along the center axis The axial direction is set at a distance L, and the central shaft sequentially passes through the second through holes of each annular lamination to connect each annular lamination in series, and the diameter of the second through hole is equivalent to the diameter of the central shaft;

A plurality of traction ropes, one end of each traction rope is respectively fixed to the first annular lamination, each traction rope passes through a corresponding third through hole of each annular lamination in turn, and the other end of each traction rope is respectively Secured to the angle control.

In some embodiments, the radial distances from each third through hole of each annular lamination to the center of the annular lamination are equal, and the circumferential distances between every two third through holes on each annular lamination are equal.

In some embodiments, there are at least four third through holes on each annular lamination.

In some embodiments, the angle control member includes a plurality of angle control knobs, and the number of the angle control knobs is the same as the number of the pull ropes.

In some embodiments, the first housing is hollow and forms a first inner cavity, a first blind hole is provided between the first housing and the first inner cavity, and the first blind hole is close to the angle control member A first opening is provided on one side of the first blind hole, a first driving device is provided in the first blind hole, and one end of the central shaft is fixed to the first driving device through the first opening.

In some embodiments, it also includes a hollow guide sleeve, a screw rod, and a screw nut; the screw nut is sleeved on the screw rod, a first bearing is arranged in the first blind hole, and the screw rod One side of the first bearing is connected, the other side of the first bearing is connected to the first driving device, the hollow guide sleeve is sleeved on the central shaft, and the hollow guide sleeve is fixedly installed on the screw nut .

The present disclosure also provides a lamina forming burr, which includes any of the above-mentioned bendable structures, and also includes: a second shell, the second shell is hollow and forms a second inner cavity, the second shell A second blind hole is provided between the second inner cavity, and one end of the central shaft protruding from the first housing is connected to one side of the second blind hole, and the corresponding other of the second blind hole A second opening is provided on the side, and the second opening is on the same level as the central axis; a second driving device is provided on one side of the second blind hole, and a second drive device is provided on the corresponding other side of the second blind hole. with a second bearing;

A drill bit, the drill bit includes a rod and a grinding head, one end of the rod is connected to the second driving device through a second bearing through the second opening, and the other end of the rod is connected to the grinding head.

A connecting piece, the connecting piece is hollow and connects the second shell to the first shell.

In some embodiments, the connector is an elastic flexible hose.

In some embodiments, a light source and an imaging device are provided in the second cavity near the side of the second housing of the grinding head.

In some embodiments, a protective sleeve is sheathed on the side of the second housing close to the grinding head.

Beneficial effect

The bendable structure and the lamina forming burr of the present disclosure are used to decompress the intervertebral foramen through the lumbar lateral approach, and the bendable burr is inserted into the spinal canal through the vertebral hole below the target segment, and the bendable The lamina shaping drill can realize lateral bending, flexion and extension and telescopic activities according to the clinical situation, so that the drill can accurately reach the target point and accurately grind away the hyperplastic medial lamina, so as to reduce surgical trauma without destroying the integrity of the lamina Accurate and effective decompression effect can be achieved under certain circumstances, and it is suitable for efficient planing and precise grinding of bony stenosis in spinal surgery, which greatly improves surgical efficiency and surgical safety.

Description of drawings

Fig. 1 is a longitudinal sectional view of a lamina forming burr according to a preferred embodiment of the present disclosure;

Fig. 2 is a schematic diagram of the three-dimensional structure of the lamina forming burr in a preferred embodiment of the present disclosure;

Fig. 3 is a schematic diagram of the lamina shaping burr in an extended state according to a preferred embodiment of the present disclosure

Fig. 4 is a schematic diagram of a lamina forming burr in a buckled state according to a preferred embodiment of the present disclosure;

Fig. 5 is a schematic diagram of a lamina forming burr in a lateral bending state according to a preferred embodiment of the present disclosure;

Fig. 6 is a schematic diagram of the lamina forming burr reaching the target point according to a preferred embodiment of the present disclosure;

Fig. 7 is a schematic diagram of removing the lamina by the lamina forming mill of the preferred embodiment of the present disclosure;

Fig. 8 is a schematic diagram of a lamina shaping burr removing a lamina according to a preferred embodiment of the present disclosure.

11, the first shell; 111, the first inner cavity; 112, the first blind hole; 1121, the first opening; 21, the angle control member; 211, the first through hole; 31, the central axis; 41, the ring stack 411, second through hole; 412, third through hole; 51, traction rope; 61, first driving device; 71, hollow guide sleeve; 81, screw rod; 91, screw nut; 101, first bearing ; 11a, the second shell; 111a, the second inner cavity; 112a, the second blind hole; 1121a, the second opening; 61a, the second driving device; 101a, the second bearing; 20, the drill bit; 201, the rod; 202. Grinding head; 30. Connector; 40. Light source and camera device; 50. Protective cover;

L, the axial distance between every two annular laminations along the central axis.

Detailed ways

The specific implementation manners of the present disclosure will be further described in detail below with reference to the drawings and embodiments. The following examples are used to illustrate the present disclosure, but not to limit the scope of the present disclosure.

Fig. 1 is a longitudinal sectional view of a lamina shaping burr according to a preferred embodiment of the present disclosure. As shown in Figure 1, the bendable structure includes a first shell 11; one end of the first shell 11 is provided with an angle control member 21; the angle control member 21 is provided with a first through hole 211; one end of the central shaft 31 is fixed to the Inside the first housing 11, the other end of the central shaft 31 passes through the first through hole 211 and stretches out from the first housing 11; the center of a plurality of annular laminations 41 is provided with a second through hole 411, and the annular laminations The outer edge of 41 is provided with a plurality of third through holes 412 along the circumferential direction, and each annular lamination 41 is arranged at a distance L along the axial direction of the central axis 31, and the central axis 31 passes through the second of each annular lamination 41 in turn. The through hole 412 connects each annular stack 41 in series; there are multiple traction ropes 51, and the diameter of the central shaft 31 is equivalent to the diameter of the third through hole 412, wherein one end of each traction rope 51 is fixed to the first annular stack respectively. Each traction rope 51 passes through a corresponding third through hole 412 of each annular lamination 41 in turn, and the other end of each traction rope 51 is respectively fixed to the angle control member 21 . In this embodiment, each traction rope 51 sequentially passes through a corresponding third through hole 412 of each annular stack 41, which means that after each annular stack 41 is connected in series, each annular stack The number and position of the second through hole 411 and the third through hole 412 on the sheet 41 have been arranged in one-to-one correspondence, and the starting point of each traction rope 51 is fixed to the annular lamination 41 farthest from the angle control member 21, and then every Each traction rope 51 will pass through one and only one third through hole 412 of each annular lamination 41 in turn, and the optimal solution is that each traction rope 51 passes through a corresponding third through hole of each annular lamination 41 412 , the diameter of the third through hole 412 is equivalent to the diameter of the central axis 31 . In this application, equivalent size means that the diameter of the third through hole 412 is equal to the diameter of the central axis 31, or that the diameter of the third through hole 412 is slightly larger than the diameter of the central axis 31, so that when the annular lamination 41 is sleeved in the center axis 31, the annular laminations 41 can move slightly along the central axis 31, and when the annular laminations 41 are tilted from the direction perpendicular to the central axis 31, the position of the annular laminations 41 on the central axis 31 will not deviate. It will drive the central axis 31 to bend. When a certain traction rope 51 is pulled, the bending structure of the present application will bend toward the direction corresponding to the pulled traction rope 51 .

In this embodiment, the first annular lamination 41 to the angle control member 21 is the length of elongation and buckling of the bendable structure of the present application, and its range is 5-25mm. The radius R of the annular lamination 41 of the present application 1.5-3mm. It is better to adopt 4-8 metal laminations, and the interval L between every two annular laminations 41 along the direction of the central axis 31 is , and the value of L should not be too small, that is, the arrangement of the annular laminations 41 should not be too dense, which will affect the The bendable structure of the application performs bending flexibility.

The “central shaft” described in this disclosure is made of a material with both rigidity and resilience, which can satisfy the hardness of the central shaft 31 to support it in a state similar to a straight line when the drill is in a non-working state. When pulling, its softness can be bent toward the pulled rope 51. When the pulled rope 51 returns to the natural state from the pulled state, the central axis 31 gradually returns to the straight line from the bent state. state. In this embodiment, the material of the central shaft can be selected from titanium alloy, PLA material and the like.

In this embodiment, the annular lamination 41 is supported by a hard material, such as metal, so that when any third through hole 412 of the annular lamination 41 is pulled by the traction rope 51, the annular lamination 41 does not deform , and can tilt along with the pull of the traction rope 51, and drive the central axis 31 to bend. In this embodiment, the material of the ring-shaped laminations 41 is metal, and the sizes of the ring-shaped metal laminations are the same. The laminations are sheathed on the central shaft 31 in turn. In this embodiment, the angle control member 21 is an angle control knob. , the number of angle control knobs is consistent with the number of traction ropes 51, and each traction rope 51 is connected to its corresponding angle control knob, and each angle control knob can control the tension or relaxation of its corresponding traction rope 51, thereby realizing Bending toward the tensioned pull rope 51 or returning to the natural state from the pulled pull rope 51 direction.

In this embodiment, the number of third through holes on each annular lamination 41 is four, and the radial distance from each third through hole 412 of each annular lamination 41 to the center of the annular lamination 41 is equal, each The circumferential distances between every two third through holes 412 on each annular lamination 41 are equal, so that the bendable structure of the present application can be bent sideways in all directions as much as possible to realize omni-directional bending. It should be noted that, the more the number of third through holes 412 of each annular lamination 41 is, the more the number of traction ropes 51 is, the more precise the angle control of its turning is, the more corresponding accessories are, the more complicated the control is, and the higher the cost is. High, in practical applications, the number of third through holes on each annular lamination 41 can be set to 6, 8, etc. It is also possible to achieve accurate side bending at various angles, and it is more convenient to control.

As shown in Figure 1, the first housing 11 is hollow and forms a first inner cavity 111, and a first blind hole 112 is provided between the first housing 11 and the first inner cavity 111, and the first blind hole 112 is close to the angle control One side of the component 21 is provided with a first opening 1121 , and the first blind hole 112 is provided with the first driving device 61 , and one end of the central shaft 31 is fixed to the first driving device 61 through the first opening 1121 . The first opening 1121 and the central axis 31 are on a horizontal plane.

As shown in Figure 1, the flexible structure of the present application also includes a hollow guide sleeve 71, a screw 81 and a screw nut 91; the screw nut 91 is sleeved on the screw 81, and the first blind hole 112 is provided with a first bearing 101, the screw rod 81 is connected to one side of the first bearing 101, the other side of the first bearing 101 is connected to the first driving device 61, the hollow guide sleeve 71 is sleeved on the central shaft 31 and the hollow guide sleeve 71 is fixedly installed on the wire The rod nut 91 , in this embodiment, the first driving device 61 is a driving motor, and the hollow guide sleeve 71 is welded to the screw nut 91 . The screw rod 81 is connected to the first bearing 101 inside the first blind hole 112 , and the other side of the first bearing 101 is connected to the first driving device 61 for controlling the rotation of the screw rod 81 .

In this embodiment, the first driving device 61 drives the screw rod 81 to rotate around the central axis 31, and the rotation of the screw rod 81 causes the screw nut 91 to reciprocate along the central axis, thereby driving the hollow guide sleeve 71 to reciprocate, and the structure can be bent The function of stretching can be realized. The hollow guide sleeve 71 is installed on the screw nut 91, which is equivalent to trapping the screw mandrel 81. The first driving device 61 drives the right turn, and the screw nut 91 is pushed forward, so that the hollow guide sleeve 71 also moves along with the screw nut 91. Pushing forward, the bendable structure realizes the function of elongation; the first driving device 61 reverses, the screw nut 91 retracts, and the hollow guide sleeve 71 also retracts accordingly, so that the bendable structure realizes the function of free expansion and contraction.

As shown in Figure 1, the lamina forming mill drill of the present application includes a first housing 11; one end of the first housing 11 is provided with an angle control member 21; the angle control member 21 is provided with a first through hole 211; 31 is fixed to the inside of the first housing 11, and the other end of the central shaft 31 passes through the first through hole 211 and protrudes from the first housing 11; the center of a plurality of annular laminations 41 is provided with a second through hole Holes 411, four third through holes 412 are provided on the outer edge of the annular lamination 41 along the circumferential direction, each annular lamination 41 is arranged at a distance L along the axial direction of the central axis 31, and each annular lamination 41 The radial distances from each third through hole 412 to the center of the annular lamination 41 are equal, and the circumferential distances of every two third through holes 412 on each annular lamination 41 are equal, and the central axis 31 passes through each annular lamination in turn. The second through hole 412 of 41 connects each annular lamination 41 in series; a plurality of traction ropes 51, wherein one end of each traction rope 51 is respectively fixed to the first annular lamination 41, and each traction rope 51 passes through each A corresponding third through hole 412 of each annular lamination 41, the other end of each traction rope 51 is respectively fixed to the angle control member 21, and a first blind hole 112 is provided between the first housing 11 and the first inner cavity 111. , the first blind hole 112 is provided with a first opening 1121 on the side close to the angle control member 21, and the first driving device 61 is arranged in the first blind hole 112, and one end of the central shaft 31 is fixed to the first driving device through the first opening 1121. The device 61 also includes a second housing 11a, the second housing 11a is hollow and forms a second inner chamber 111a, a second blind hole 112a is provided between the second housing 11a and the second inner chamber 111a, and the central axis 31 One end protruding from the first housing 11 is connected to one side of the second blind hole 112a, and the other side corresponding to the second blind hole 112a is provided with a second opening 1121a, and the second opening 1121a is on the same side as the central axis 31. On the horizontal plane; one side in the second blind hole 112a is provided with a second driving device 61a, and the corresponding other side in the second blind hole 112a is provided with a second bearing 101a; the drill bit 20 includes a rod portion 201 and a grinding head 202, and the rod One end of the part 201 is connected to the second driving device 61a through the second bearing 101a through the second opening 1121a, the other end of the rod part 201 is connected to the grinding head 202, and the connecting part 30 is hollow and connects the second housing 11a to the first A shell 11. The connecting piece 30 is an elastic flexible hose. In this embodiment, the connecting piece is a corrugated hose, and its material is preferably rubber material, and the connecting piece 30 is set outside the central axis 31, that is, the central axis 31 is set on the connecting piece 30 In the cavity formed by the hollow design, the folded hose can realize side bending in the bendable structure, and the folds of the folded hose are compressed or elongated when they are flexed and stretched, and are recovered due to elasticity when the lamina shaping drill is not working to normal state.

Fig. 2 is a three-dimensional structural schematic diagram of a lamina forming mill drill in a preferred embodiment of the present disclosure. As shown in Fig. 1 and Fig. 2 , the drill bit 20 includes a head 202 and a rod 201, the head 202 is an ellipsoid, and the head 202 is used for The cut surface is provided with rough abrasive particles, and the surface away from the cut is connected to the rod 201, which is a smooth cylinder, and one end of the rod 201 passes through the second opening 1121a and is connected to the second bearing 101a. Drive device 61a. The second blind hole 112a is welded inside the second cavity 111a of the second housing 11a, and a second opening 1121a is provided on the other side corresponding to the second blind hole 112a, and the rod 201 passes through the second opening 1121a and passes through the second blind hole 112a. The second bearing 101a is connected to the second driving device 61a, and the second driving device 61a and the second bearing 101a are used to control the rotation speed of the drill.

As shown in Figures 1 and 2, a protective cover 50 is provided on the outside of the second housing 11a close to the grinding head 202. The protective cover 50 is integrally formed, and the part corresponding to the grinding head 202 is designed in a smooth arc shape, corresponding to On the grinding head 202 of ellipsoid. The side of the second casing 11a close to the grinding head 202 in the second cavity 111a is provided with a light source and a camera 40, and the light source and the camera 40 are provided with a transparent protective cover. In this implementation, the transparent protective cover is a semicircular glass cover. When in use, the light source and the camera device can not only illuminate the target point, but also convey the structure of the surgical field to other display devices, so that the medical staff can fully observe the target point and whether the drill reaches the target point, and the grinding drill The real-time status of vertebrae abrasion during operation.

As shown in Figure 2, when the lamina forming burr of the present application is in an unused state, the bendable structure of the lamina forming burr is in a natural state, and the connector 30 in this embodiment is a folded hose with elastic contraction . Referring to Fig. 3-Fig. 6, when working, insert the lamina forming mill drill of the present application into the spinal canal, when stretching is required, the first driving device 61 works, and the screw rod 81 is driven to rotate forward through the first bearing 101, The screw nut 91 on the screw mandrel 81 moves forward along the direction of the central axis 31, and drives the hollow guide sleeve 71 to move forward along the direction of the central axis 31 to realize the elongation function of the lamina forming drill, as shown in Figure 3 shown. In this embodiment, the lamina shaping drill of the present application includes 4 traction ropes 51, and the angle control device 21 includes 4 angle control buttons, each angle control button, 4 traction ropes 51, and each annular lamination The third through-holes 412 on the 41 are arranged in one-to-one correspondence, and the corresponding traction rope 51 is tightened by the angle control button, and the traction rope 51 makes the corresponding annular laminations 41 tilt through the corresponding third through-holes 412, and each annular The laminations 41 are all pulled and tilted so that the corresponding central axis 31 is bent toward the direction of the pulled traction rope 51 , and the connection between the first shell 11 and the second shell 11 a is sleeved outside the central axis 31 and simultaneously connected. Part 30 also bends towards the pulled rope 51. When all the traction ropes 51 are pulled, all the third through holes 412 of the first annular laminations 41 move synchronously toward the direction of the angle control member 21, and the same is true for the other annular laminations 41. Compression is performed to achieve buckling, reaching the buckled state as shown in Figure 4. The purpose of buckling can be realized by controlling the speed and degree of tightness of any one of the traction ropes 51 . In practical application, several traction ropes 51 are tightened or loosened by the angle control member 21, and the speed of tightening or loosening the traction ropes 51 is related to the movement of the screw nut 91 forward or backward along the direction of the central axis 31. The speed remains the same until the grinding head 202 reaches the vicinity of the target point. Adjust the first driving device 61, the first bearing 101 drives the screw mandrel 81 to rotate forward/reversely, the screw nut 91 on the screw mandrel 81 moves forward/backward along the direction of the central axis 31, and drives the hollow guide sleeve 71 along the The direction of the central axis 31 moves forward/backward, so that the grinding drill reaches the required length. After the length adjustment is completed, adjust the bending angle of the grinding drill. In which direction the drill bit 20 needs to be bent, turn the knob in the corresponding direction to make the traction rope 51 bend in the direction of the pulled traction rope 51 until the required bending angle is reached. That is, the grinding head 202 is aimed at the target point and the cutting direction of the grinding head 202 is consistent with the lamina to be ground, as shown in FIG. 5 . After all the adjustments are completed, the second driving device 61a works to drive the drill bit 20 to rotate and grind away the target lamina, as shown in FIGS. 6-8 .

In the description of this specification, descriptions referring to the terms "one embodiment", "certain embodiments", "example", "specific example", "before", "rear", etc. A particular feature, structure, material, or characteristic described is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the present disclosure disclosed above are only used to help explain the present disclosure. The preferred embodiments are not exhaustive in all detail, nor is the disclosure limited to specific implementations described. Obviously, many modifications and variations can be made based on the contents of this specification. This description selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, so that those skilled in the art can well understand and use the present disclosure. It should be pointed out that those skilled in the art can make several improvements and substitutions without departing from the technical principle of the present disclosure, and these improvements and substitutions should also be regarded as the protection scope of the present disclosure.

Claims (10)

1. A bendable structure, comprising: a first housing; one end of the first shell is provided with an angle control piece; the angle control piece is provided with a first through hole;

a center shaft having one end fixed to an inside of the first housing and the other end passing through the first through hole and protruding from the first housing;

the center of each annular lamination is provided with a second through hole, the outer edge of each annular lamination is provided with a plurality of third through holes along the circumferential direction, each annular lamination is arranged along the axial direction of a central shaft at intervals of a distance L, the central shaft sequentially connects each annular lamination in series through the second through holes of each annular lamination, and the diameter of each second through hole is equal to the diameter of the central shaft;

and one end of each traction rope is respectively fixed to the first annular lamination, each traction rope sequentially passes through a corresponding third through hole of each annular lamination, and the other end of each traction rope is respectively fixed to the angle control piece.

2. The flexible structure of claim 1, wherein each third through hole of each annular lamination is equidistant from a center of the annular lamination and a circumferential distance between each two third through holes of each annular lamination is equal.

3. The flexible structure of claim 1, wherein the number of third through holes in each annular lamination is at least 4.

4. The bendable structure according to claim 1, wherein the angle control member comprises a plurality of angle control knobs, the number of angle control knobs being consistent with the number of pull cords.

5. The bendable structure according to claim 1, wherein the first housing is hollow and forms a first inner cavity, a first blind hole is formed between the first housing and the first inner cavity, a first opening is formed in one side, close to the angle control member, of the first blind hole, a first driving device is arranged in the first blind hole, and one end of the central shaft is fixed to the first driving device through the first opening.

6. The bendable structure according to claim 5, further comprising a hollow guide sleeve, a screw nut; the screw rod nut is sleeved on the screw rod, a first bearing is arranged in the first blind hole, the screw rod is connected to one side of the first bearing, the other side of the first bearing is connected to the first driving device, the hollow guide sleeve is sleeved on the central shaft, and the hollow guide sleeve is fixedly mounted to the screw rod nut.

7. A laminoplasty abrasive drill comprising the flexible structure of any one of claims 1-6, further comprising: the second shell is hollow and forms a second inner cavity, a second blind hole is formed between the second shell and the second inner cavity, one end of the central shaft extending out of the first shell is connected to one side of the second blind hole, a second opening is formed in the corresponding other side of the second blind hole, and the second opening and the central shaft are on the same horizontal plane; one side of the second blind hole is provided with a second driving device, and the other corresponding side of the second blind hole is provided with a second bearing;

the drill bit comprises a rod part and a grinding head, one end of the rod part is connected to the second driving device through a second bearing through a second opening, and the other end of the rod part is connected with the grinding head.

And the connecting piece is of a hollow design and connects the second shell to the first shell.

8. The laminoplasty cobalt according to claim 7, wherein the connector is an elastically telescoping hose.

9. The laminoplasty abrasive drill of claim 8, wherein a light source and an imaging device are disposed in the second cavity on a side of the second housing adjacent the abrasive tip.

10. The abrasive drill for forming vertebral plate of claim 8 wherein said second housing is externally sleeved with a protective sleeve on a side of said second housing adjacent said abrasive tip.