CN117562664A - MRI and CT environment compatible neurosurgery robot - Google Patents

Abstract

The invention discloses a neurosurgery robot compatible with MRI and CT environments, which comprises a support module, a positioning module and an insertion module; the support module is used for providing at least a function of reciprocating along a Z axis for the positioning module; the positioning module is used for adjusting the pose of the surgical tool and comprises an X linear movement assembly for providing a X-axis direction reciprocating movement function, a Y linear movement assembly for providing a Y-axis direction reciprocating movement function, a Z2 double translation assembly for providing a Z-axis direction linear movement function and a rotation movement function around the X axis and a Z rotation mechanism for providing a rotation function for the insertion module; the insertion module is used for controlling the surgical tool to execute insertion action according to the planned path. The robot system provided by the invention allows the image scanning and the surgical tool insertion to be synchronously performed in real time, and does not need to repeatedly move a patient into or out of the closed cavity of the MRI or CT during the surgery, so that the surgery time can be reduced, and the surgery precision can be improved.

Description

MRI and CT environment compatible neurosurgery robot

Technical Field

The invention relates to the field of surgical robots, in particular to a neurosurgical robot compatible with MRI and CT environments.

Background

Deep Brain Stimulation (DBS) is a procedure for an implant device comprising: a stimulation electrode implanted in the deep brain, a stimulation pulse generator implanted under the chest, and a wire connected with the pulse generator and the electrode under the skin. By regulating pulse generator, electric signal is sent to brain region responsible for body movement via electrode, chronic electric stimulation is performed to nerve tissue with deep brain function abnormality (nerve nucleus group), abnormal electric activity of brain specific function nerve tissue is regulated, and thus, many dyskinesia diseases caused by nerve tissue function abnormality are treated. DBS can help alleviate symptoms of tremors, slowness, stiffness and walking problems caused by parkinson's disease, dystonia or essential tremors. Successful DBS can effectively reduce the dependence of patients on drugs and significantly improve the quality of life of patients. However, successful DBS depends largely on the precise implantation of the electrodes.

The common devices for DBS operation mainly comprise a head stereotactic system and a neurosurgical robot system. The head stereotactic system has the advantages of simplicity, easiness in use, low cost, quick popularization and the like, is still a main stream mode for assisting DBS operation at present, and about 95% of DBS operations at home and abroad are assisted to be completed under the system. The head stereotactic system is mainly based on: the three-dimensional coordinate position of the target spot on the directional frame is determined by a three-dimensional coordinate system, the target spot is positioned at the center of the positioning system by installing and adjusting the guide head ring, the puncture angle is adjusted, and the DBS electrode is implanted. For accurate implantation of electrodes, MRI or CT imaging scans will be used to assist the surgeon: 1) Determining the target position; 2) Planning an electrode implantation path; 3) And detecting the implantation posture, position and precision of the electrode. The current operation mode mainly has the following defects: 1) Target positioning errors result in poor therapeutic efficiency: the nucleus is in the deep part of the brain, the volume is small, the millimeter level, the existing head three-dimensional positioning system has errors in the positioning and calculating process, cerebral spinal fluid flows out after craniotomy, and the brain deformation can cause errors; 2) Because the head stereotactic system is large in size and is not compatible with MRI or CT environments, intra-operative image tracking and confirmation cannot be performed; 3) Since surgery and MRI or CT scanning cannot be performed in real time, patients need to repeatedly push in and out of the scanner to confirm the target or electrode position and posture, resulting in a large number of surgical steps, long time consumption, and the like. In order to solve the above problems, the precise positioning and implantation of the implanted electrode should be performed in an MRI or CT scanning environment. However, because the cavity space of the MRI or CT scanner is small, a doctor cannot perform an operation in the environment, so that the MRI or CT environment is required to be fully compatible with an operation robot, namely a "neurosurgery robot system", to replace the doctor to perform the operation, to perform the accurate positioning of the implanted electrode, and even to complete the implantation operation of the electrode. The operation process can be that a doctor performs remote operation under the guidance of MRI or CT images or performs implantation operation path planning by means of images, and the operation is performed by an operation robot.

In contrast to conventional "head stereotactic system" surgical treatments, the "neurosurgical robotic system" features guiding the insertion of a needle in accordance with the implantation path of a medical imaging trocar (or electrode). During surgery, a trocar (or electrode) is typically guided through the skull of a human body to a lesion target site under Ultrasound (US) or Computed Tomography (CT) or Magnetic Resonance Imaging (MRI). However, ultrasound or CT guided neurointerventional procedures, because the treatment boundaries are not sufficiently accurate, face great difficulties that can lead to high recurrence rates or inadvertent organ damage; in addition, CT scanners emit relatively high doses of ionizing radiation and may pose further health risks to the patient. To overcome these difficulties, MRI has been widely used as an alternative. MRI not only has excellent soft tissue contrast and spatial resolution in any direction, but also does not expose the patient to ionizing radiation. Based on the MRI image diagnosis results, the physician can determine the surgical target location, plan the surgical needle insertion path, determine the needle insertion point, and introduce the needle through the skull into the target anatomy. Despite the above drawbacks of CT guidance, the relatively low cost and applicability have led to CT guidance methods that are still widely used worldwide. Accordingly, there is an increasing need for "neurosurgical robotic systems" suitable for MRI and CT environments. However, there are very few surgical robots currently on the market that are compatible with MRI and CT environments, most of which are still under development. The main challenges faced in development come from: 1) And (3) operating space limitation. Since a horizontal closed bore MRI scanner with a bore diameter of 60cm and a horizontal closed bore CT scanner with a bore diameter of 70cm are still in great use at present, it is extremely difficult to perform a surgical operation in such a narrow space; 2) Material compatibility limitations. High density, ferromagnetic, and conductive materials are often incompatible with MRI scanners; 3) The driving mode is limited. That is, when the surgical robot moves, the scanner should not be disturbed to work normally and image artifacts should not be generated; likewise, the operation of the robot should not be affected when the scanner is in operation; 4) And (5) precision limitation. The insertion accuracy of the puncture needle must meet high requirements, since for an insertion depth of 15 to 20cm, the target is usually in the order of millimeters.

To date, some neurosurgical robotic systems have been developed that can be used to complete DBS surgery, but all suffer from certain limitations. For example, the robot ROSA is a 6-degree-of-freedom mechanical arm type neurosurgery robot developed by the company Medtech in france, is mounted on a movable wheel type platform, can be used in a frame or frameless mode, and has the advantages of diversified injection, surgical navigation, mobile portability and the like. However, it is not suitable for MRI environments, so that MRI or CT image guided surgery cannot be completed in real time; other surgical robotic systems that meet MRI and CT compatibility requirements utilize pneumatically or hydraulically driven robotic motions, but may generate cavitation or fluid leakage due to the low relative speed stability and positional accuracy of the pneumatic drive, and perhaps the bulkiness of the overall drive system.

It would therefore be beneficial to provide a neurosurgical robotic system that is usable for DBS surgery and compatible with MRI and CT environments, and that allows image scanning and trocar (or electrode) implantation to be performed simultaneously in real time, while the patient does not need to be moved into or out of the scanner for imaging and needle insertion.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a neurosurgical robot compatible with MRI and CT environments aiming at the defects in the prior art. The invention relates to a reconfigurable modular neurosurgical medical robotic system suitable for use in MRI and CT annular obturator, under real-time MRI or CT image guidance, and in particular for performing Deep Brain Stimulation (DBS) procedures. The robot system can not only keep the implanted electrode or the trocar consistent with the planned insertion path at the pivot point (insertion point), but also accurately implant the electrode with the electric contact along the planned path to reach the target position in an automatic or manual mode, and the set electric stimulation is used for influencing the electric activity of the nerve nucleus or the nerve loop so as to treat the functional diseases such as Parkinson's disease, primary tremor, dystonia and the like; the robot system can be combined with a traditional rigid needle or a novel flexible needle puncture device and the like to automatically or manually complete biopsy, seed marking or drug capsule implantation, and ablation electrode insertion to perform other brain minimally invasive operations such as tumor ablation and the like.

In order to solve the technical problems, the invention adopts the following technical scheme: an MRI and CT environment compatible neurosurgical robot comprises a support module, a positioning module arranged on the support module and an insertion module arranged on the positioning module;

the support module is used for providing at least a function of reciprocating along a Z axis for the positioning module;

the positioning module is used for adjusting the pose of the surgical tool and comprises an X linear movement assembly for providing an X-axis direction reciprocating movement function, a Y linear movement assembly for providing a Y-axis direction reciprocating movement function, a Z2 double translation assembly for providing a Z-axis direction linear movement function and a Z-axis rotation movement function, and a Z rotation mechanism for providing a Z-axis rotation function for the insertion module;

the insertion module is used for controlling the surgical tool to execute the insertion action according to the planned path.

Preferably, the support module is used for providing the function of reciprocating movement along the Z axis for the positioning module;

the support module comprises a Z1 support flat plate, a Z11 spiral screw mechanism arranged on the Z1 support flat plate and at least two Z1 linear guide assemblies arranged on the Z1 support flat plate;

the Z11 spiral screw mechanism comprises a Z11 screw rod at least provided with 1Z 11 nut in a matching way, a Z11 motor connected with the Z11 screw rod in a driving way through a Z11 coupler and a Z11 motor bracket used for installing the Z11 motor on a Z1 supporting flat plate;

the Z1 linear guide assembly comprises a Z1 linear guide rail arranged on the Z1 support flat plate along a Z axis and at least 1Z 1 bracket slidably arranged on the Z1 linear guide rail.

Preferably, the support module is used for providing the function of reciprocating movement along the Z axis and rotating around the Y axis for the positioning module;

the support module comprises a Z1 support flat plate, two Z12 spiral screw mechanisms which are arranged on the Z1 support flat plate in parallel along the Z axis direction in an XOZ plane, two Z1 connecting seats which are arranged on the Z1 support flat plate at intervals along the Z axis direction and are positioned between the two Z12 spiral screw mechanisms, a Z1 guide rod which is arranged between the two Z1 connecting seats, a Z1 sliding block which is slidably arranged on the Z1 guide rod, a first Y rotating shaft which is arranged on the Z1 sliding block along the Y axis direction, and a rotatable X base which is arranged above the two Z12 spiral screw mechanisms and the Z1 sliding block;

each Z12 spiral screw mechanism comprises a Z12 screw arranged along the Z axis direction, a Z12 nut matched with the Z12 screw, a second Y axis arranged on the Z12 nut along the Y axis direction, a Z12 motor used for driving the Z12 screw to rotate, and a Z12 motor bracket used for installing the Z12 motor on a Z1 supporting flat plate.

Preferably, the rotatable X base comprises two X lower connecting seats arranged at intervals along the X axis direction, two X lower guide rods connected between the two X lower connecting seats, two X lower sliding blocks which can be arranged on the two X lower guide rods in a sliding manner along the X axis direction, and an X supporting plate fixedly connected to the two X lower connecting seats;

a gap is reserved between the X supporting plate and the two X lower sliding blocks, and a first Y shaft hole for the first Y rotating shaft on the Z1 sliding block to be inserted is formed in the middle of the X supporting plate;

and a second Y shaft hole for the matched insertion of a second Y rotating shaft on the Z12 nut is formed in the middle of the X lower sliding block.

Preferably, when the moving directions of the two Z12 nuts are consistent and the moving speeds are the same, the rotatable X base moves linearly along the Z axis direction;

when the moving directions of the two Z12 nuts are opposite or the moving directions are consistent but the moving speeds are different, the rotatable X base realizes: the rotational movement is only about the Y axis, or both the linear movement in the Z direction and the rotational movement about the Y axis.

Preferably, the X linear movement assembly comprises an X support plate, an X screw rod arranged on the X support plate along the X axis direction, at least one X nut matched with the X screw rod, an X motor connected with the X screw rod through an X coupler in a driving way, and an X motor bracket for mounting the X motor on an X support plate;

the middle part of the bottom surface of the X supporting plate is fixedly connected with the Z11 nut, and the side part of the bottom surface is fixedly connected with the Z1 bracket; or the X supporting plate is fixedly connected with the X supporting plate of the rotatable X base.

Preferably, the Y linear movement assembly comprises a Y base fixedly connected to the X nut, a Y box connected to the Y base, a Y screw rod rotatably and movably arranged on the Y box along the Y axis direction, a Y nut axially fixedly arranged in the Y box and matched with the Y screw rod, a Y worm wheel fixedly sleeved on the Y nut and coaxial with the Y screw rod, a Y worm connected with the Y worm wheel in a meshed transmission manner, a Y motor for driving the Y worm to rotate, at least 1Y guide slide hole formed on the Y box along the Y axis, a Y adapter supporting and used for connecting the Z2 double translation assembly, a Y guide rod slidably inserted in the Y guide slide hole, and a Y connecting plate fixedly connected with the upper ends of the Y screw rod and the Y guide rod and simultaneously connected with the Y adapter.

Preferably, the Z2 double-translation assembly comprises a U-shaped base fixedly connected to the Y adapter, a T-shaped bracket connected to the U-shaped base, two groups of Z2 spiral screw mechanisms which are vertically and symmetrically arranged on the T-shaped bracket, and an interface assembly connected with the output ends of the two groups of Z2 spiral screw mechanisms;

every Z2 screw rod mechanism all includes along the Z direction setting Z2 screw rod on the T type support, cooperation setting is in Z2 nut on the Z2 screw rod, set up on the T type support through Z2 shaft coupling drive connection Z2 motor of Z2 screw rod and along the Z direction connection Z2 translation connecting rod on the Z2 nut.

Preferably, the interface component comprises an interface board, two interface fixing connecting seats arranged on the back surface of the interface board at intervals along the length direction of the interface board, two interface guide rods connected between the two interface fixing connecting seats, and at least one interface movable connecting seat slidably arranged on the interface guide rods;

the tail end of one Z2 translational connecting rod in the two groups of Z2 helical screw mechanisms is rotatably connected with one interface fixed connecting seat, and the tail end of the other Z2 translational connecting rod is rotatably connected with one interface movable connecting seat.

Preferably, when the two Z2 translation links move in the same direction and at the same speed, the interface assembly performs linear motion in the Z direction;

when the two Z2 translational links move in different directions or move in the same direction but at different speeds, the interface assembly achieves: the rotational movement is only about the X-axis, or both the linear movement in the Z-direction and the rotational movement about the X-axis.

Preferably, the Z rotating mechanism comprises a Z box body fixedly connected to the interface board, a Z rotating shaft rotatably arranged in the Z box body, a Z worm wheel fixedly connected to the Z rotating shaft, a Z worm meshed with the Z worm wheel and a Z motor for driving the Z worm to rotate;

the Z rotating shaft is perpendicular to the plane where the interface board is located, and is connected with the insertion module to provide a function of rotating around the Z rotating shaft for the insertion module.

The beneficial effects of the invention are as follows:

1) The invention provides a neurosurgical robot system compatible with MRI and CT environments, and the robot system allows image scanning and surgical tool insertion to be performed simultaneously in real time without the need for repeatedly moving patients into or out of the closed cavity of the MRI or CT during surgery, thereby reducing surgery time and improving surgery accuracy;

2) The neurosurgical robotic system of the present invention has the characteristics of being modular and reconfigurable according to different surgical sites or targets;

3) The neurosurgical robotic system of the present invention not only can control the pose of a surgical tool (e.g., trocar or electrode) to be consistent with the planned insertion path at the pivot point (insertion point), but also can control the insertion of the tool to perform the DBS procedure; the neurosurgery robot can be respectively combined with a rigid needle automatic insertion module, a rigid needle manual insertion module or a flexible needle automatic insertion mechanism to automatically or manually complete the minimally invasive operations such as biopsy, implantation of marking seeds or medicine capsules, insertion of ablation electrodes and the like;

4) In some preferred embodiments of the present invention, the support module is designed to be in a dual drive mode, which can provide the positioning module with a function of reciprocating along the Z axis and a function of rotating around the Y axis, so that the overall structural stability of the system can be enhanced, the motion control can be easily realized, and the maneuverability and operability of the robot can be enhanced by increasing the rotation around the Y axis.

Drawings

FIGS. 1A and 1B are perspective views of a neurosurgical robot disposed within an MRI or CT cavity and its relative position to a patient;

FIG. 2 is a perspective view of a neurosurgical robot and a skull coil and their relative positional relationship;

fig. 3A and 3B are perspective views of a neurosurgical robot;

fig. 4 is an exploded perspective view of the neurosurgical robot in embodiment 1;

fig. 5 is a perspective view of a support module of the neurosurgical robot of embodiment 1;

fig. 6 is an exploded perspective view of the support module in embodiment 1;

FIG. 7 is a perspective view of the neurosurgical robotic positioning module of embodiment 1;

FIG. 8 is an exploded perspective view of the positioning module in embodiment 1;

FIG. 9 is a perspective view of an X linear motion assembly of the positioning module of embodiment 1;

fig. 10 is an exploded perspective view of the X linear motion assembly in embodiment 1;

FIG. 11 is a perspective view of a Y linear motion assembly of the positioning module of embodiment 1;

fig. 12 is an exploded perspective view of the Y linear motion assembly in embodiment 1;

FIG. 13 is a perspective view of a Z2 double translation assembly of the positioning module of example 1;

FIG. 14 is an exploded perspective view of the Z2 double translation assembly of example 1;

FIG. 15 is a perspective view of the Z-axis rotation mechanism of the positioning module of embodiment 1;

fig. 16 is an exploded perspective view of the Z rotation mechanism in embodiment 1;

FIG. 17 is a perspective view of a neurosurgical robot containing different surgical tool insertion modules, in which the insertion modules are single degree of freedom automatic insertion modules;

FIGS. 18 and 19 are two other configurations of the neurosurgical robot;

fig. 20 is a perspective view of a support module of the neurosurgical robot of embodiment 2;

fig. 21 is an exploded perspective view of the support module in embodiment 2;

fig. 22 is a sectional view of the support module in embodiment 2;

fig. 23 is a schematic view of the support module in embodiment 2 providing only a reciprocating function along the Z axis;

FIG. 24 is a schematic view showing a function of providing reciprocating movement along the Z axis and rotation about the Y axis of the support module in embodiment 2;

fig. 25 is a schematic view of a neurosurgical robot provided with the support module in embodiment 2.

Reference numerals illustrate:

01-neurosurgical robot; 02-MRI or CT scanner; 03-skull coil; 04-patient;

1-a support module;

11-Z1 support plate;

12-Z11 screw mechanism; 121-Z11 screw; 122-Z11 nut; 123-Z11 coupling; 124-Z11 motor; 125-Z11 motor bracket;

13-Z1 linear guide assembly; 131-Z1 linear guide rail; 132-Z1 bracket;

14-Z12 screw mechanism; 141-Z12 screw; 142-Z12 nut; 143-a second Y-axis; 144-Z12 motor; 145-Z12 motor mount;

15-Z1 connecting seats; 16-Z1 guide bar; 17-Z1 slide block; 18-a first Y axis;

19-a rotatable X base; 191-X lower connecting seat; 192-X lower guide bar; 193-X lower slide block; 194-X support plates; 195-a first Y-axis aperture; 196-a second Y-axis hole;

2-a positioning module;

21-X linear motion assembly; 211-X support plates; 212-X screw; 213-X nut; 214-X coupling; 215-X motor; 216-X motor bracket;

22-Y linear motion assembly; 221-Y base; 222-Y box; 223-Y screw; 224-Y worm gear; 225-Y nuts; 226-Y worm; a 227-Y motor; 228-Y adapter; 229-Y motor mounting plate; 2221-Y guide slide aperture; 2222-Y guide rod; 2223—y case cover; 2281-Y connection plates;

23-Z2 double translation assembly; 231-U-shaped base; 232-T-shaped brackets; 2321-a U-shaped bracket;

233-Z2 helical screw mechanism; 2331-Z2 screw; 2332-Z2 nut; 2333-Z2 coupling; 2334-Z2 motor; 2335-Z2 translational linkage;

234-an interface assembly; 2341-interface board; 2342-interface fixed connection base; 2343—interface guide bar; 2344-interface movable connection seat;

24-Z rotation mechanism; 241-Z box; 242-Z axis; 243-Z worm gear; 244-Z worm; 245-Z motor; 246—case cover;

3-insert module.

Detailed Description

The present invention is described in further detail below with reference to examples to enable those skilled in the art to practice the same by referring to the description.

It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

The neurosurgery robot provided by the invention can be used for implementing Deep Brain Stimulation (DBS) operation, and has the following characteristics: 1) Not only compatible with MRI and CT environments, but also suitable for its standard obturator space. The robot can achieve rotational motion in any direction (i.e., bi-oblique motion in two planes perpendicular to each other) at a selected needle insertion point (pivot point), and then can insert a trocar (or electrode) transcranially into a target location along a planned path by automatic or remote control or manual means to complete a DBS procedure; 2) The robot can also be respectively combined with a rigid needle automatic insertion module, a rigid needle manual insertion module or a flexible needle automatic insertion mechanism to finish other neurosurgery operations; 3) The surgical robot has a modularized structure, and can realize reconstruction according to the surgical site and the actual surgical space so as to meet different use requirements, such as biopsy, marker seed or drug capsule delivery and tumor ablation. Referring to fig. 1A and 1B, the surgical robot 01 is disposed within an MRI or CT scanner 02 to perform neurosurgery on a patient 04; wherein the patient 04 has his cranium placed in the cranium coil 03.

The following provides detailed examples to illustrate the invention in detail.

Example 1

Referring to fig. 3A, 3B and 4, the present embodiment provides an MRI and CT environment compatible neurosurgical robot 01 having at least 6 degrees of freedom, comprising: x, Y, Z1, Z2.1, Z2.2, etc., 1 degree of freedom of rotation about the Z axis Rz, and one possible surgical tool insertion degree of freedom T. The neurosurgical robot 01 comprises a support module 1, a positioning module 2 arranged on the support module 1, and an insertion module 3 arranged on the positioning module 2;

the support module 1 is used for providing at least a function of reciprocating along a Z axis for the positioning module 2, and is used for installing and supporting other two modules and the skull coil 03 (refer to figure 2);

the positioning module 2 is used for precisely determining the pose of the surgical tool, namely ensuring that the surgical tool keeps consistent with a planned path at an insertion point of the human skull and allowing the surgical tool to rotate (or pivot) around the insertion point, wherein the surgical tool can be a trocar, or an implanted electrode, or various puncture needles; the positioning module 2 comprises an X linear movement assembly 21 for providing an X-axis direction reciprocating movement function, a Y linear movement assembly 22 for providing a Y-axis direction reciprocating movement function, a Z2 double translation assembly 23 for providing a Z-axis direction linear movement function and a rotation movement function around the X axis, and a Z rotation mechanism 24 for providing a rotation function around the Z axis for the insertion module 3;

the insertion module 3 is used to control the surgical tool to perform an insertion action along a planned path, so that the surgical tool passes through the insertion point via the cranium puncture and reaches the surgical target location along the planned path.

Referring to fig. 5 and 6, in the present embodiment, the support module 1 is used to provide the function of reciprocating along the Z-axis for the positioning module 2, which may be fixedly mounted on the MRI or CT couch;

the support module 1 includes a Z1 support plate 11, a Z11 helical screw mechanism 12 provided on the Z1 support plate 11, and at least two Z1 linear guide assemblies 13 (2 in this embodiment) provided on the Z1 support plate 11;

the Z11 screw mechanism 12 comprises a Z11 screw 121 at least provided with 1Z 11 nut 122 in a matching way, a Z11 motor 124 which is in driving connection with the Z11 screw 121 through a Z11 coupler 123, and a Z11 motor bracket 125 which is used for installing the Z11 motor 124 on the Z1 support flat plate 11; under the drive of a Z11 motor 124, the Z11 screw 121 rotates to drive the Z11 nut 122 to linearly move along the Z axis direction;

the Z1 linear guide assembly 13 includes a Z1 linear guide rail 131 provided on the Z1 support plate 11 along the Z axis and at least 1Z 1 brackets 132 (2 in this embodiment) slidably provided on the Z1 linear guide rail 131. The 2Z 1 brackets 132 are respectively movably connected to the Z1 linear guide 131 and serve to support and balance the Y-axis load to reduce the linear movement resistance of the Z11 nut 122 in the Z direction.

Wherein the Z1 support plate 11 can support not only the whole robot system, but also the fixed skull coil 03, so that the coordinates of the robot system are relatively determined relative to the skull coil 03, and the Z1 support plate 11 is fixedly arranged on an MRI or CT bed.

Referring to fig. 7 and 8, in the present embodiment, the positioning module 2 is mounted on the Z11 nut 122 and the Z1 bracket 132, and can move linearly along the Z direction with the Z11 nut 122.

Referring to fig. 9 and 10, wherein the X linear moving assembly 21 includes an X support plate 211, an X screw 212 provided on the X support plate 211 in an X axis direction, at least one X nut 213 cooperatively provided on the X screw 212, an X motor 215 drivingly connected to the X screw 212 through an X coupler 214, and an X motor bracket 216 to mount the X motor 215 on the X support plate 211; under the drive of the X motor 215, the X nut 213 rotationally connected to the X screw 212 is caused to linearly move in the X axis direction;

the bottom middle of the X supporting plate 211 is fixedly connected with the Z11 nut 122, and the bottom side is fixedly connected with the Z1 bracket 132.

Referring to fig. 11 and 12, the basic structure and operation principle of the Y linear motion assembly 22 are similar to a worm gear mechanism, specifically, the Y linear motion assembly 22 includes a Y base 221 fixedly connected to the X nut 213, a Y box 222 connected to the Y base 221, a Y screw 223 rotatably and movably disposed on the Y box 222 along the Y axis direction, a Y nut 225 coaxially and fixedly coupled to the Y screw 223 in a screw pair, a Y worm wheel 224 fixedly sleeved on the Y nut 225, a Y worm 226 in meshing transmission connection with the Y worm wheel 224, a Y motor 227 for driving the Y worm 226 to rotate, at least 1Y guide slide hole 2221 formed on the Y box 222 along the Y axis, a Y guide bar 2222 slidably inserted in the Y guide slide hole 2221, and a Y connection plate 2281 fixedly connected to both the Y screw 223 and the upper end of the Y guide bar 2222 and simultaneously connected to the Y adapter 228.

Further, the Y linear motion assembly 22 further includes a Y motor mounting plate 229 for mounting and fixing the Y motor 227, a Y housing 222 cover plate 2223 is provided at the bottom of the Y housing 222, and a Y connection plate 2281 is connected to the upper portion of the Y adapter 228.

The principle of operation of the Y linear motion assembly 22 can be described as: the Y worm 226 is driven by a Y motor 227 to transfer motion and torque to the Y worm wheel 224 which meshes with the Y worm 226 and forms a 90 degree interlace; rotation of the Y worm gear 224 will cause the Y nut 225 fixedly connected thereto to rotate, and because of this constraint, the Y nut 225 can only rotate but cannot move in the Y linear motion assembly 22, and because of this constraint, when the Y nut 225 rotates along with the Y worm gear 224, the Y screw 223 forming a screw pair with the Y nut 225 will be driven to move up and down along Y.

The Z2 double-translation assembly 23 not only can realize linear movement along the Z direction, but also can realize rotary movement around the X axis, referring to fig. 13 and 14, wherein the Z2 double-translation assembly 23 comprises a U-shaped base 231 fixedly connected to the Y adapter 228, a T-shaped bracket 232 connected to the U-shaped base 231, two groups of Z2 screw mechanisms 233 symmetrically arranged on the T-shaped bracket 232 up and down, and an interface assembly 234 connected to output ends of the two groups of Z2 screw mechanisms 233;

each Z2 screw mechanism 233 includes a Z2 screw 2331 disposed on the T-bracket 232 in the Z direction, a Z2 nut 2332 cooperatively disposed on the Z2 screw 2331, a Z2 motor 2334 disposed on the T-bracket 232 and drivingly connected to the Z2 screw 2331 by a Z2 coupler 2333, and a Z2 translational link 2335 connected to the Z2 nut 2332 in the Z direction. The end of the T-bracket 232 is connected with a U-bracket 2321.

With continued reference to fig. 13 and 14, the interface assembly 234 includes an interface plate 2341, two interface securing receptacles 2342 spaced apart along a length of the interface plate 2341 on a rear side of the interface plate 2341, two interface guide rods 2343 connected between the two interface securing receptacles 2342, and at least one interface movable receptacle 2344 slidably disposed on the interface guide rods 2343;

the end of one Z2 translational connecting rod 2335 of the two groups of Z2 screw mechanisms 233 is rotatably connected with one interface fixed connecting seat 2342, and the end of the other Z2 translational connecting rod 2335 is rotatably connected with one interface movable connecting seat 2344. The interface assembly 234 may be used to mount and connect the Z-rotation mechanism 24, or may be directly connected to a surgical tool.

The two sets of Z2 screw mechanisms 233 may be two other mechanisms that produce linear translation. The two Z2 screw mechanisms 233 can be understood as two translational mechanisms along the Z direction, that is, the Z2 nut 2332 and the Z2 translational link 2335 fixedly mounted on the Z2 nut 2332 can move in parallel along the Z direction under the driving of the Z2 screw 2331.

When the two Z2 translational links 2335 move in the same direction and at the same speed, the interface assembly 234 moves linearly in the Z direction; at the moment, the Z2 double-translation mechanism can provide a position adjusting function in the Z direction within a certain range.

When the two Z2 translation links 2335 move in different directions or move in the same direction but at different speeds, the interface assembly 234 achieves:

i) Only rotational movement about the X-axis, e.g., one of the Z2 translational links 2335 does not move and the other Z2 translational link 2335 moves, then the interface assembly 234 only performs rotational movement about the X-axis;

or ii) both linear motion in the Z direction and rotational motion about the X axis. During the process of the rotation movement of the interface component 234 around the X axis, the Z2 translation link 2335 pushes the movable connector 2344 of the interface to translate along the Z direction, and the movable connector 2344 slides relative to the interface guide rod 2343, so that the interface plate 2341 can perform the rotation movement around the X axis without being blocked.

Referring to fig. 15 and 16, in the present embodiment, the Z rotation mechanism 24 includes a Z housing 241 fixedly connected to the interface plate 2341, a Z rotation shaft 242 rotatably provided in the Z housing 241, a Z worm wheel 243 fixedly connected to the Z rotation shaft 242, a Z worm 244 engaged with the Z worm wheel 243, and a Z motor 245 for driving the rotation of the Z worm 244; the Z worm wheel 243 is meshed with the Z worm 244, so that staggered shaft movement and torque transmission can be realized; the Z-housing 241 is further provided with a housing cover 246 for mounting and fixing the worm gear mechanism.

The Z-axis 242 is perpendicular to the plane of the interface plate 2341, and the Z-axis 242 is connected to the insert module 3 to provide a function of rotating around the Z-axis 242 to the insert module 3. Wherein, since the interface assembly 234 is rotatable about X and the Z-rotation mechanism 24 is mounted on the interface assembly 234, the axis of rotation of the Z-rotation mechanism 24 is also variable, and when the perpendicular to the plane in which the interface plate 2341 of the interface assembly 234 lies is parallel to the Z-axis, the axis of rotation of the Z-rotation mechanism 24 coincides with the Z-axis, which is designated as the Z-rotation mechanism 24 for convenience of description.

The insertion module 3 is used for inserting surgical tools, and the insertion tools can be trocars, electrodes, rigid puncture needles, flexible puncture needles and other different surgical tools so as to achieve different surgical purposes; for example, patent "a minimally invasive surgical robot compatible with MRI and CT environments" CN 218528882U, the insertion may be manual insertion or automatic insertion, etc. The neurosurgical robot shown in fig. 1-4 comprises a manual insertion module 3. Fig. 17 shows a neurosurgical robot comprising a single degree of freedom automatic insertion module 3.

The mechanical structural design of the neurosurgical robot 01 of the invention follows the modularization and reconfiguration characteristics, and the structure can be reconfigured according to different surgical purposes and positions. Unlike the neurosurgical robot configuration shown in fig. 1-4, two other configurations of the neurosurgical robot 01 are shown in fig. 18 and 19.

In fig. 18, the Z rotation mechanism 24 is directly mounted on the Y linear motion assembly 22, and the Z2 double translation assembly 23 and the insertion module 3 are sequentially connected to the Z rotation mechanism 24.

In fig. 19, the Z rotation mechanism 24, the Z2 double translation assembly 23 and the insertion module 3 are sequentially connected to the X linear motion assembly 21, with the Y linear motion assembly 22 removed. At this time, the Z rotation mechanism 24 may output a rotational motion about the Y axis, and the Z2 double translation assembly 23 may provide a linear motion in the Y direction as well as a rotational motion about the X axis.

Example 2

Unlike embodiment 1, this embodiment provides a support module 1 of another structure, and the other module structure is the same as embodiment 1. In this embodiment, the support module 1 is designed to be in a dual-driving mode, so as to provide the function of reciprocating along the Z axis and rotating around the Y axis for the positioning module 2, which not only can enhance the overall structural stability of the system and facilitate the motion control, but also can enhance the maneuverability and operability of the robot by increasing the rotation around the Y axis. The support module 1 of this structure has two degrees of freedom that can move linearly in the Z direction and also rotate about the Y axis.

Specifically, referring to fig. 20 to 22, the support module 1 includes a Z1 support plate 11, two Z12 screw mechanisms 14 arranged in parallel on the Z1 support plate 11 in the Z axis direction in the XOZ plane, two Z1 connection bases 15 provided on the Z1 support plate 11 at intervals in the Z axis direction and between the two Z12 screw mechanisms 14, a Z1 guide bar 16 provided between the two Z1 connection bases 15, a Z1 slider 17 slidably provided on the Z1 guide bar 16, a first Y rotation shaft 18 provided on the Z1 slider 17 in the Y axis direction, and a rotatable X base 19 provided above the two Z12 screw mechanisms 14 and the Z1 slider 17;

each Z12 screw mechanism 14 includes a Z12 screw 141 provided in the Z axis direction, a Z12 nut 142 cooperatively provided on the Z12 screw 141, a second Y axis 143 provided on the Z12 nut 142 in the Y axis direction, a Z12 motor 144 for driving the Z12 screw 141 to rotate, and a Z12 motor bracket 145 for mounting the Z12 motor 144 on the Z1 support plate 11.

The rotatable X base comprises two X lower connecting seats 191 arranged at intervals along the X axis direction, two X lower guide rods 192 connected between the two X lower connecting seats 191, two X lower sliding blocks 193 which can be arranged on the two X lower guide rods 192 in a sliding manner along the X axis direction, and an X supporting plate 194 fixedly connected to the two X lower connecting seats 191; a gap is reserved between the X supporting plate 194 and the two X lower slide blocks 193, and a first Y shaft hole 195 for inserting the first Y rotating shaft 18 on the Z1 slide block 17 is formed in the middle of the X supporting plate 194; a second Y-axis hole 196 is provided in the middle of the X lower slider 193 for the second Y-axis 143 of the Z12 nut 142 to be inserted.

Referring to fig. 23, when the moving directions of the two Z12 nuts 142 are identical and the moving speeds (v1=v2) are the same, the rotatable X base moves linearly in the Z-axis direction;

referring to fig. 24, when the two Z12 nuts 142 are moved in opposite directions or in the same direction but at different moving speeds (v1+.v2), the rotatable X base realizes: the rotational movement is only about the Y axis, or both the linear movement in the Z direction and the rotational movement about the Y axis.

Referring to fig. 25, a schematic structural view of a neurosurgical robot 01 employing the structural support module 1 of the present embodiment is shown.

Although embodiments of the present invention have been disclosed above, it is not limited to the use of the description and embodiments, it is well suited to various fields of use for the invention, and further modifications may be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the particular details without departing from the general concepts defined in the claims and the equivalents thereof.

Claims (10)

1. An MRI and CT environment compatible neurosurgical robot, comprising a support module, a positioning module arranged on the support module, and an insertion module arranged on the positioning module;

the support module is used for providing at least a function of reciprocating along a Z axis for the positioning module;

the positioning module is used for adjusting the pose of the surgical tool and comprises an X linear movement assembly for providing an X-axis direction reciprocating movement function, a Y linear movement assembly for providing a Y-axis direction reciprocating movement function, a Z2 double translation assembly for providing a Z-axis direction linear movement function and a Z-axis rotation movement function, and a Z rotation mechanism for providing a Z-axis rotation function for the insertion module;

the insertion module is used for controlling the surgical tool to execute the insertion action according to the planned path.

2. The MRI and CT environment compatible neurosurgical robot of claim 1 wherein the support module is configured to provide the positioning module with a function of reciprocating along the Z-axis;

the support module comprises a Z1 support flat plate, a Z11 spiral screw mechanism arranged on the Z1 support flat plate and at least two Z1 linear guide assemblies arranged on the Z1 support flat plate;

the Z11 spiral screw mechanism comprises a Z11 screw rod at least provided with 1Z 11 nut in a matching way, a Z11 motor connected with the Z11 screw rod in a driving way through a Z11 coupler and a Z11 motor bracket used for installing the Z11 motor on a Z1 supporting flat plate;

the Z1 linear guide assembly comprises a Z1 linear guide rail arranged on the Z1 support flat plate along a Z axis and at least 1Z 1 bracket slidably arranged on the Z1 linear guide rail.

3. The MRI and CT environment compatible neurosurgical robot of claim 1 wherein the support module is configured to provide the positioning module with a function of reciprocating along the Z-axis and rotating about the Y-axis;

the support module comprises a Z1 support flat plate, two Z12 spiral screw mechanisms which are arranged on the Z1 support flat plate in parallel along the Z axis direction in an XOZ plane, two Z1 connecting seats which are arranged on the Z1 support flat plate at intervals along the Z axis direction and are positioned between the two Z12 spiral screw mechanisms, a Z1 guide rod which is arranged between the two Z1 connecting seats, a Z1 sliding block which is slidably arranged on the Z1 guide rod, a first Y rotating shaft which is arranged on the Z1 sliding block along the Y axis direction, and a rotatable X base which is arranged above the two Z12 spiral screw mechanisms and the Z1 sliding block;

each Z12 spiral screw mechanism comprises a Z12 screw arranged along the Z axis direction, a Z12 nut matched with the Z12 screw, a second Y axis arranged on the Z12 nut along the Y axis direction, a Z12 motor used for driving the Z12 screw to rotate, and a Z12 motor bracket used for installing the Z12 motor on a Z1 supporting flat plate.

4. The MRI and CT environment compatible neurosurgical robot of claim 3 wherein the rotatable X base rotatable about the Y axis comprises two X lower links spaced apart along the X axis, two X lower guide bars connected between the two X lower links, two X lower sliders slidably disposed on the two X lower guide bars along the X axis, and an X support plate fixedly attached to the two X lower links;

a gap is reserved between the X supporting plate and the two X lower sliding blocks, and a first Y shaft hole for the first Y rotating shaft on the Z1 sliding block to be inserted is formed in the middle of the X supporting plate;

and a second Y shaft hole for the matched insertion of a second Y rotating shaft on the Z12 nut is formed in the middle of the X lower sliding block.

5. The MRI and CT environment compatible neurosurgical robot of claim 4 wherein the rotatable X base moves linearly in the Z-axis direction when the two Z12 nuts move in the same direction and at the same speed;

when the moving directions of the two Z12 nuts are opposite or the moving directions are consistent but the moving speeds are different, the rotatable X base realizes: the rotational movement is only about the Y axis, or both the linear movement in the Z direction and the rotational movement about the Y axis.

6. The MRI and CT environment compatible neurosurgical robot of claim 2 or claim 5 wherein the X linear motion assembly comprises an X support plate, an X screw disposed on the X support plate in the X axis direction, at least one X nut cooperatively disposed on the X screw, an X motor drivingly connected to the X screw through an X coupler, and an X motor mount for mounting the X motor on an X support plate;

the middle part of the bottom surface of the X supporting plate is fixedly connected with the Z11 nut, and the side part of the bottom surface is fixedly connected with the Z1 bracket; or the X supporting plate is fixedly connected with the X supporting plate of the rotatable X base.

7. The MRI and CT environment compatible neurosurgical robot of claim 6 wherein the Y linear motion assembly comprises a Y base fixedly connected to the X nut, a Y housing connected to the Y base, a Y screw rotatably and movably disposed on the Y housing in a Y axis direction, a Y nut axially fixedly disposed within the Y housing and engaged with the Y screw, a Y worm gear fixedly sleeved on the Y nut and coaxial with the Y screw, a Y worm in meshing driving connection with the Y worm gear, a Y motor for driving the Y worm to rotate, at least 1Y guide slide hole formed on the Y housing in a Y axis direction, a Y adapter supporting and for connecting the Z2 double translation assembly, a Y guide rod slidably inserted within the Y guide slide hole, and a Y connecting plate fixedly connected to both the Y screw and an upper end of the Y guide rod and simultaneously connected to the Y adapter.

8. The MRI and CT environment compatible neurosurgical robot of claim 7 wherein the Z2 double translational assembly comprises a U-shaped base fixedly connected to the Y-adapter, a T-shaped bracket connected to the U-shaped base, two sets of Z2 screw mechanisms symmetrically disposed on the T-shaped bracket up and down, and an interface assembly connected to the outputs of both sets of Z2 screw mechanisms;

every Z2 screw rod mechanism all includes along the Z direction setting Z2 screw rod on the T type support, cooperation setting is in Z2 nut on the Z2 screw rod, set up on the T type support through Z2 shaft coupling drive connection Z2 motor of Z2 screw rod and along the Z direction connection Z2 translation connecting rod on the Z2 nut.

9. The MRI and CT environment compatible neurosurgical robot of claim 8 wherein the interface assembly comprises an interface board, two interface fixation joints spaced apart along a length of the interface board on a back side of the interface board, two interface guide bars connected between the two interface fixation joints, and at least one interface articulation joint slidably disposed on the interface guide bars;

the tail end of one Z2 translational connecting rod in the two groups of Z2 helical screw mechanisms is rotatably connected with one interface fixed connecting seat, and the tail end of the other Z2 translational connecting rod is rotatably connected with one interface movable connecting seat.

10. The MRI and CT environment compatible neurosurgical robot of claim 9 wherein the Z rotation mechanism comprises a Z housing fixedly connected to the interface board, a Z shaft rotatably disposed within the Z housing, a Z worm gear fixedly connected to the Z shaft, a Z worm gear engaged with the Z worm gear, and a Z motor for driving the Z worm gear to rotate;

the Z rotating shaft is perpendicular to the plane where the interface board is located, and is connected with the insertion module to provide a function of rotating around the Z rotating shaft for the insertion module.