CN109549706B - Surgical operation auxiliary system and application method thereof - Google Patents
Surgical operation auxiliary system and application method thereof Download PDFInfo
- Publication number
- CN109549706B CN109549706B CN201910052976.6A CN201910052976A CN109549706B CN 109549706 B CN109549706 B CN 109549706B CN 201910052976 A CN201910052976 A CN 201910052976A CN 109549706 B CN109549706 B CN 109549706B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- surgical
- arm
- host
- assistance system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 36
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 description 42
- 239000003550 marker Substances 0.000 description 17
- 230000008569 process Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000012905 input function Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 235000011449 Rosa Nutrition 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001037 epileptic effect Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 238000002672 stereotactic surgery Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a surgical assistance system and a method of using the same, the surgical assistance system comprising: host, mechanical arm, input device, display device, guide device, etc.; for assisting in positioning in neurosurgery, reducing operative time, reducing operative risk, improving manual compliance of the robotic arm, and reducing interference with the spatial location of the user.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a surgical operation auxiliary system and a use method thereof.
Background
The stereotactic technology can help doctors to use more scientific and reasonable positioning operation access, and has wide application in operations such as stereotactic electroencephalogram electrode implantation for deep brain stimulation and epileptic focus positioning. Methods of stereotactic include stereotactic frames and stereotactic surgical robots. Both methods acquire the space coordinates of each position of the head through the pre-scanning head CT and the three-dimensional reconstruction, a doctor designs an approach under the coordinate system, and then accurate puncture path guidance is realized according to the coordinates in the operation.
With the progress and maturity of the mechanical arm technology, robot-assisted stereotactic surgery has become more and more popular, and a plurality of companies have introduced robot-assisted neurosurgical navigation systems, and existing products such as ROSA and rembot all adopt 6-axis mechanical arms as structures for guiding movement, so as to provide azimuth guidance for doctors. In the dragging process of a mechanical arm commonly used in the existing neurosurgery navigation system, two problems are often encountered, namely, the manual dragging machine is mainly guided by manpower, the follow-up performance of each joint is poor, the operation is very heavy and difficult, sometimes the force is too strong or the control force is poor, and the dangerous condition that the front end guide probe of the mechanical arm collides with or even damages the head of a patient can be caused; the other problem is that in the operation process, the requirement of adjusting the posture of the mechanical arm under the condition of keeping the end part of the mechanical arm fixed cannot be met, the 6-axis mechanical arm end has only a limited space position solution, namely, under the premise of keeping the end part of the 6-axis mechanical arm fixed, the other arm joints of the 6-axis mechanical arm can keep the posture of the end part position unchanged in the space, if the positions of the other arm joints are required to be changed, the movement of the end part can be necessarily caused, the condition that the posture of the end part position of the mechanical arm is kept unchanged cannot be met, meanwhile, the mechanical arm is large in size, after the position is fixed, the surgeon is often caused to operate in a special posture, the operation difficulty is increased, the physical consumption of the surgeon is increased, the operation efficiency is reduced, and the operation risk of patients is increased.
Disclosure of Invention
In view of this, in order to solve at least one of the problems existing in the prior art, the inventor proposes a surgical operation assisting system, which adopts a multi-axis mechanical arm including a plurality of sensors, has good dragging compliance, and by means of the multi-axis mechanical arm, realizes that other joints and arm sections cooperatively perform position and posture adjustment when touched under the condition of keeping the spatial position of the end part, thereby facilitating the operation of doctors.
In one aspect, the present invention provides a surgical assistance system comprising:
the host comprises a computer, a controller and an interface, and is used for receiving data, controlling the movement of the mechanical arm and outputting a calculation result;
the mechanical arm comprises a plurality of arm segments and joints and has at least 7 degrees of freedom, and can realize the position and posture adjustment of the joints and other arm segments under the condition that the spatial position of the end part (the tail end arm segment) of the mechanical arm is not changed;
an input device for receiving a command of a user;
and the display device is used for displaying the calculation result of the host and the software interface.
The input device may be any suitable device to allow a user to direct commands and data to the host computer, such as a foot switch, a touch pad, a stylus, a touch screen, a joystick, a trackball, a wireless mouse, a keyboard, a voice input port, or a combination thereof. The display device may be any suitable device to present a software interface and virtual three-dimensional imaging to a user, such as a notebook computer, tablet computer, smart phone, liquid crystal display, touch display, or a combination thereof.
The surgical assistance system of the present invention may further comprise a flange disposed at an end of the robotic arm for coupling to a guide, a positioning probe, a surgical instrument, a scanning device, etc. The flange is not essential, and may be omitted in the case where a guide, a tracking device, or the like may be directly attached to the end of the arm.
The surgical auxiliary system of the invention further comprises a guide device for establishing a movement channel for the surgical instrument, assisting in positioning and orienting the surgical instrument, the guide device comprising a through hole for assisting in moving the surgical instrument in a certain direction, and the guide device being sterilizable if necessary to meet the surgical requirements.
The surgical auxiliary system of the invention also comprises a surgical instrument which can be a guide wire, a drill, an electrode and the like, and the surgical instrument passes through the through hole of the guiding device to realize the positioning and orientation in the three-dimensional space.
The surgical auxiliary system also comprises a positioning probe, wherein the positioning probe is used for marking the positions of the marking points, such as bone nails already installed on the skull or marking points of the body, and the positioning probe is fixed relative to the end part of the mechanical arm, so that the position points can be confirmed and corrected based on a coordinate system determined by the mechanical arm, and then registration is completed.
The surgical assistance system of the present invention may further comprise a scanning module to image a target space (the site to be operated on) for generating a three-dimensional structure, in which case the scanning module may replace the positioning probe. The scanning module can be moved to a designated position by the robotic arm based on a known fixed position relative to the end of the robotic arm and comprises different constituent structures:
in a first aspect, the scanning module includes an image acquisition device, and the relative positional relationship between the image acquisition device and the mechanical arm is known, that is, coordinates of the image acquisition device in a basic coordinate system of the mechanical arm can be directly obtained without measurement; the image acquisition device can be a camera, such as a monocular camera, a binocular camera and the like, and the mechanical arm drives the image acquisition device to acquire images at different positions, so that three-dimensional information of a target space can be obtained through calculation;
in a second scheme, the scanning module comprises a light emitting component and an image acquisition device, the light emitting component can emit light rays, such as infrared rays, to a target space, the image acquisition device acquires images, and after acquiring data of a sufficient number of characteristic points, the computing control center calibrates coordinates of the target space according to the acquired information;
in a third scheme, the scanning module comprises a projection assembly and an image acquisition device, the projection module can emit a specific coded image to a target space, the image acquisition device acquires the image, and the accurate three-dimensional structure of the target space is obtained through a corresponding decoding algorithm and then registration is carried out. The projection assembly of the scanning module and the image acquisition device have a predetermined relative spatial positional relationship. In one embodiment, a projection assembly of the surgical robotic system of the present invention comprises a light source, a lens assembly, a digital micromirror element (Digital Micromirror Device), and a control module, and the image acquisition device is a camera.
The surgical robot system can also comprise a tracking module, can track and acquire the positions of the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like, can directly or indirectly accurately position the position of the guiding module, can track the space position when the scanning module acquires an image, and can convert the coordinate system of the image acquired by the scanning module, thereby constructing a three-dimensional structure; the space positioning of the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like is not dependent on the mechanical arm, in this case, the reference mark and the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like need to have a connection relation with fixed relative positions, and the tracking module is formed as described above. The tracking module may be implemented in a variety of ways:
in the first case, the tracking module is an image pickup device with tracking capability, such as a binocular camera, for tracking the position of a reference mark, the reference mark may include a plurality of light-trackable markers, and the light-trackable markers have special spatial arrangement structures and can uniquely determine the spatial coordinates of the reference mark, for example, self-luminous markers, or corner points, etc., the reference mark has a fixed positional relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, etc., and can be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, etc. is determined by the reference mark;
in the second case, the tracking module is an optical tracking device, where the optical tracking device generally includes a light-trackable marker, a camera unit and a light emitting unit, the light is preferably infrared, the reference marker includes a plurality of markers, and the markers have a special spatial arrangement structure and can uniquely determine spatial coordinates of the reference marker, and the markers may be in various forms, for example, reflective balls, and the reference marker has a fixed positional relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, etc., and may be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, etc. is determined by the reference marker;
in the third case, the tracking module is an electromagnetic tracking device, the electromagnetic tracking device determines the position of the magnetic positioning marker through the influence of the magnetic positioning marker on the electromagnetic field in the magnetic field, the magnetic positioning marker forms a reference mark, the reference mark has a fixed position relationship with the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like, and can be fixedly connected or detachably connected, and then the position of the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like is determined through the reference mark.
In one embodiment, the robotic arm of the surgical assistance system of the present invention has 7 degrees of freedom, each joint having a sensor and a motor; preferably, the sensor is a torque sensor.
The mechanical arm of the surgical assistance system of the present invention is able to sense the forces to which it is subjected, and this feature can be implemented in different ways, as long as this function is achieved. In one example, this may be achieved by providing a sensor at each joint of the robotic arm; in another example, each joint of the mechanical arm is provided with a torque sensor and a motor, the magnitude and direction of the external force applied to each arm joint can be sensed, and the host computer can control the movement of each joint. In another scheme, the outermost layer of the mechanical arm is a pressure sensing layer, external pressure received by the mechanical arm can be sensed, the external pressure can be fed back to the host, for example, a force sensing film is distributed on the force sensing film, each force sensing unit can independently record the force and has a unique coordinate position, the force sensing unit senses the force and transmits the force to the host, the host sends a command to the motor according to the stress condition of the mechanical arm, and the mechanical arm performs follow-up motion until the external force is zero. In still another scheme, the mechanical arm only comprises a motor at the joint, and the stress condition of the joint can be calculated through the current change of the motor, so that the mechanical arm is adaptively adjusted.
In the surgical operation auxiliary system, the input device and the display device can be fixedly connected with the host, communication connection can be realized through wires or wireless, distributed distribution is realized, for example, wiFi or Bluetooth is adopted to realize communication, that is, the display device and the input device exist as separate components, and the display device and the input device can be the same component, such as a touch screen, a mobile tablet computer, a smart phone and the like.
In a preferred embodiment, the host of the surgical auxiliary system of the invention can control the mechanical arm in such a way that the end of the mechanical arm is kept unchanged at a required position, and when the sensor senses the external force, the host recalculates the new posture of the mechanical arm after adapting to the external force and commands the mechanical arm to carry out rapid adaptive adjustment.
In yet another preferred embodiment, the surgical assistance system of the present invention may comprise or be used in conjunction with an existing surgical navigation device that provides coordinate information of anatomical landmark points, monitors the effect of the surgical site, etc. to the surgical assistance system of the present invention, i.e. by data communication through an interface of the host computer.
The surgical assistance system of the present invention has a variety of motion control modes:
1. active motion mode: in the mode, a host machine sends a motion instruction to a mechanical arm according to a planned operation scheme, a motor is actuated to adjust the motion of the mechanical arm according to the instruction, emergency braking is carried out under the condition that external force is blocked, and a warning prompt is sent out; the active motion mode is mainly used for automatically returning to an initial position, automatically moving to a planning position of an operation and the like of the mechanical arm;
2. driven motion mode: in the mode, an operator can drag the mechanical arm to position, and after the host receives the stress sensed by the mechanical arm, an auxiliary movement instruction is sent out according to the stress, and the mechanical arm is actuated to move according to the expected dragging; the driven motion mode is mainly used for the registration process;
3. end limited mode: in the mode, the end part of the mechanical arm can only move on a planned axis or in a plane track, or can move in a cone shape by taking a fixed point as a center, when the mechanical arm is subjected to external force, the host computer recalculates a new posture of the mechanical arm after being adapted to the external force, and commands the machine to carry out rapid adaptive adjustment;
4. end fixing mode: the end of the mechanical arm is kept unchanged at a required position, and the joints and other arm joints can be used for adjusting the position and the posture.
In another aspect, the present invention also provides a method for using the aforementioned surgical assistance system, comprising:
a) Receiving image data by using a surgical operation auxiliary system, performing visual display, and planning an operation scheme in the image;
b) Securing the surgical assistance system in place in an operating room for registration;
c) The movement mode of the surgical auxiliary system is adjusted and the surgical auxiliary system is executed according to a preset operation plan.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the components of the surgical assist system of the present invention;
FIG. 2 is a schematic diagram of one embodiment of the present invention;
FIG. 3 is a schematic diagram of a mechanical arm with a flange connected scan module according to an embodiment of the invention;
FIG. 4 is a schematic view of the surgical assist system of the present invention with a positioning probe fitted to the end of the robotic arm;
FIG. 5 is a schematic view of one embodiment of a localization probe of the present invention;
FIG. 6 is a schematic view of a surgical assist system incorporating a guide at the end of a robotic arm in accordance with one embodiment of the invention;
FIG. 7 is a schematic view of one embodiment of a guide of the present invention;
FIG. 8 is another schematic representation of the composition of the surgical assist system of the present invention;
FIG. 9 is a schematic view of an embodiment of the surgical assist system of FIG. 8 with a robotic arm end equipped with a guide;
FIG. 10 shows a schematic view of two examples of reference marks of the surgical assist system of the present invention;
FIG. 11 is a schematic view of a portion of a force sensing membrane in one embodiment of a surgical assistance system of the invention.
Icon:
100-host, 101-mobile base plate, 102-host case, 103-computer and controller, 1011-wheel, 1012-lifting device, 104-handrail; 200-mechanical arms; 300-display device (may have an input function); 400-an input device; 500-flanges; 600-guiding device, 601-first fitting, 602-second fitting, 6021-through hole; 700-scanning module, 800-positioning probe, 900-tracking device, 901-camera, 902-camera; 201-base, 202-first joint, 203-first arm joint, 204-second joint, 205-second arm joint, 206-third joint, 207-third arm joint, 208-fourth joint, 209-fourth arm joint, 210-fifth joint, 211-fifth arm joint, 212-sixth joint, 213-sixth arm joint, 214-seventh joint, 215-seventh arm joint (robotic end); 710-projection component, 720-image acquisition means.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention provides a surgical assistance system, referring to fig. 1, generally comprising: the host 100, the robotic arm 200, the display device 300, the input device 400, the flange 500, the guide 600, and the scanning module 700 and/or the positioning probe 800; the mechanical arm 200 has at least 7 degrees of freedom, and when the mechanical arm has 7 degrees of freedom and more than 7 degrees of freedom, any arm section moves to any position under the condition that the end of the mechanical arm is fixed, and the rest arm sections have continuous spatial position solutions, namely, the rest arm sections can be freely dragged under the condition that the end of the 7-axis mechanical arm is ensured to be stationary.
The host 100 includes a mobile backplane 101, a host chassis 102, a computer, and a controller 103; the computer and controller 103 is in communication with a display device 300, an input device 400, other hospital devices (e.g., MRI devices or CT devices), or databases. The display device 300 is used to display three-dimensional images and software interfaces generated by the computer and controller 103, for example, the display device 300 is a liquid crystal display, in one embodiment the display device 300 is a touch screen, which allows the display device 300 to have both display and input functions, and the input device 400 may be omitted. Input device 400 is a common input means: such as a foot switch, touchpad, stylus, touch screen, joystick, trackball, wireless mouse, keyboard, voice input port, or combinations thereof, allow a user to direct commands and data to the host computer. The flange 500 is mounted to the end of the robot arm 200, and the guide 600, the scan module 700, the positioning probe 800, etc. are connected to the robot arm 200 through the flange 500, and in some cases, the flange 500 may be omitted, i.e., the guide 600, the scan module 700, the positioning probe 800 are directly connected to the end of the robot arm. The guide 600 contains a through-hole through which other medical instruments, such as guidewires, drills, electrodes, etc., can be positioned and oriented. The guide 600 may be sterilized prior to use as desired.
Referring to fig. 2, a schematic diagram of a surgical assistance system according to one embodiment of the present invention shows a mobile chassis 101, a mainframe box 102, a robotic arm 200, a display device 300 (with input function), without an input device pedal displayed; the movable bottom plate 101 is provided with four wheels 1011 and a stop structure, a user pushes the host 100 to move through the armrest 104 on the host case 102, opens the stop structure after reaching a proper position of an operating room, and then lifts the host through the lifting device 1012, so that the wheels 1011 leave the ground, and the host 100 is supported and fixed only by the lifting device 1012, thereby preventing the host 100 from position change in the operation process; the computer and controller 103 is located inside the host chassis 102. The display device 300 (with input functionality) may be in communication with a computer and controller 103; in one embodiment, the display device 300 (with input functionality) is connected to the computer and controller 103 via wireless connection, including WiFi, bluetooth, etc.; the display device 300 may be a touch screen, mobile tablet, smart phone, or other existing device.
Referring to fig. 3, describing in detail the state in which the robot arm 200 according to one embodiment of the present invention is connected to the scan module 700 through the flange 500, the robot arm 200 includes a base 201, a first joint 202, a first arm joint 203, a second joint 204, a second arm joint 205, a third joint 206, a third arm joint 207, a fourth joint 208, a fourth arm joint 209, a fifth joint 210, a fifth arm joint 211, a sixth joint 212, a sixth arm joint 213, a seventh joint 214, and a seventh arm joint 215 (a robot arm end); the base 201 is integrated within the host chassis 102, and each joint contains a motor and a force sensor, preferably a torque sensor. The scanning module 700 comprises a projection component 710 and an image acquisition device 720, wherein the projection module can emit a specific coded image to a target space, acquire the image through the image acquisition device, acquire a precise three-dimensional structure of the target space through a corresponding decoding algorithm, and then register the three-dimensional structure; the projection module 710 includes a light source, a lens assembly, a digital micromirror element, and a control module, and the image capturing device 720 is a camera; the positions of the projection assembly 710 and the image acquisition apparatus 720 may be interchanged as long as their relative positions are fixed. In some cases, the robotic arm 200 of this embodiment contains only a motor, and the force experienced can be sensed by the magnitude of the current in the motor to make a corresponding adjustment.
Referring to fig. 4, a schematic diagram of a surgical assistance system employing a positioning probe according to one embodiment of the present invention is shown, including a mobile chassis 101, a mainframe box 102, a robotic arm 200, a display device 300 (with input functionality), a positioning probe 800; the movable bottom plate 101 is provided with four wheels 1011 and a stop structure, a user pushes the host 100 to move through the armrest 104 on the host case 102, opens the stop structure after reaching a proper position of an operating room, and then lifts the host through the lifting device 1012, so that the wheels 1011 leave the ground, and the host 100 is supported and fixed only by the lifting device 1012, thereby preventing the host 100 from position change in the operation process; the computer and controller 103 is located inside the host chassis 102. The display device 300 (with input functionality) may be in communication with a computer and controller 103; in one embodiment, the display device 300 (with input functionality) is connected to the computer and controller 103 via wireless connection, including WiFi, bluetooth, etc.; the display device 300 (with input functionality) may be a touch screen, mobile tablet, smart phone, or other existing device. The positioning probe 800 is directly attached to the end of the robotic arm, one specific configuration of which is shown in fig. 5.
Referring to fig. 6 and 7, a guide 600 in one embodiment of the surgical assist system of the present invention is described, and the use of the guide 600 is shown in fig. 6, mounted on the end of the robotic arm 200. Fig. 7 shows an enlarged and disassembled view of the guide 600. The guide 600 is composed of an assemblable first fitting 601 and a second fitting 602, the second fitting 602 having a through hole 6021, the through hole 6021 may have different diameters to match different surgical instruments. The guide 600 may have a variety of configurations and profiles so long as it assists in orienting and positioning the surgical instrument.
The surgical assistance system of the present invention may also include a tracking module, referring to fig. 8, which includes a host 100, a robotic arm 200, a display device 300, an input device 400, a flange 500, a guide 600, a scanning module 700 and/or a positioning probe 800, and a tracking device 900. The tracking device 900 can track and obtain the positions of the arm end 215, the flange 500, the guiding device 600, the positioning probe 800, the scanning module 700 and the like through the reference marks, so that the positions of the arm end 215, the flange 500, the guiding device 600, the positioning probe 800, the scanning module 700 and the like are directly or indirectly accurately positioned, and the coordinate system of the image obtained by the scanning module can be converted after the spatial position when the scanning module 700 obtains the image is tracked, so that a three-dimensional structure is constructed. The tracking module may have a variety of compositions, and the various compositions may be used singly or simultaneously:
in the first case, the tracking module is an image pickup device with tracking capability, such as a binocular camera, and tracks the position of a reference mark, wherein the reference mark can be formed by a light-trackable marker, and the light-trackable marker is, for example, a self-luminous marker or a corner point, and the reference mark has a fixed position relationship with the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like, can be fixedly connected or detachably connected, and then the position of the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like can be determined through the reference mark;
in the second case, the tracking module is an optical tracking device, where the optical tracking device generally includes a light-trackable marker, a camera unit and a light-emitting unit, and the light-emitting unit preferably emits infrared light, where the marker forms a reference mark, and the marker may be in various forms, for example, a light-reflective ball, and the reference mark has a fixed positional relationship with the end of the mechanical arm, the flange, the guide device, the positioning probe, the scanning module, etc., and may be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guide device, the positioning probe, the scanning module, etc. is determined by the reference mark;
in the third case, the tracking module is an electromagnetic tracking device, the electromagnetic tracking device determines the position of the magnetic positioning marker through the influence of the magnetic positioning marker on the electromagnetic field in the magnetic field, the magnetic positioning marker forms a reference mark, the reference mark has a fixed position relationship with the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like, and can be fixedly connected or detachably connected, and then the position of the end part of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like is determined through the reference mark.
The tracking module tracks through a reference mark, the reference mark comprises a plurality of markers capable of being tracked, a schematic diagram of two examples of the reference mark is shown in fig. 10, the reference mark 910 is a reference mark used with an optical tracking device, the reference mark comprises four spherical markers 9101 capable of reflecting infrared rays, the reference mark 910 can be connected with the mechanical arm end 215, the flange 500, the guiding device 600, the positioning probe 800, the scanning module 700 and the like, the spherical markers 9101 reflect infrared rays emitted by a light emitting unit and are collected by a camera unit, so that the position of the reference mark 910 can be determined, and then the spatial positions of the mechanical arm end 215, the flange 500, the guiding device 600, the positioning probe 800 and the scanning module 700 can be obtained. Reference numeral 920 comprises four angular points 9201 suitable for use with a binocular camera, and referring to fig. 9, a schematic diagram of one embodiment of the surgical assistance system of the present invention comprising a tracking device 900 is shown, wherein the state of mounting the guiding device 600 is shown, the guiding device is connected to the reference numeral 920 (not shown), the spatial positions of the reference numeral 920 and the guiding device 600 are obtained by tracking the reference numeral 920 with cameras 901 and 902 of the tracking device 900 during use, the guiding device 600 is also replaced by a positioning probe 800 or a scanning module 700, and the spatial positions thereof can be determined by connecting the reference numeral 920.
In one embodiment, the outermost layer of the robotic arm in the surgical assistance system of the present invention is a force sensing membrane. Referring to fig. 11, a schematic diagram of a portion of a force sensing film is shown, where the force sensing film is formed by a plurality of sensing units, each unit has a unique determined position on a mechanical arm and can sense the force received by the unit independently, when the force sensing film is subjected to an external force, the received force can be fed back to a host, and the host gives a motion instruction to the mechanical arm according to the stress information, so that the mechanical arm cooperates with the dragging of a user, and the dragging process is smoother and more labor-saving.
In a preferred embodiment, the host 100 of the surgical assistance system of the present invention controls the movement of the robotic arm 200 via software loaded therein, such that the robotic arm 200 is capable of implementing a variety of different modes of movement under the control of the host 100, including:
1. active motion mode: in this mode, the host 100 sends a motion command to the mechanical arm 200 according to a planned operation scheme or input of a user, and the actuation motor adjusts the motion of the mechanical arm 200 according to the command, so that emergency braking can be performed and a prompt can be sent under the condition of being blocked by external force; the active motion mode is mainly used for automatically returning to an initial position, automatically moving to a part of operation planning position and the like of the mechanical arm;
2. driven motion mode: in this mode, the manipulator can drag the mechanical arm 200 to position, and the host machine sends out an auxiliary motion instruction according to the magnitude of the stress after receiving the stress sensed by the mechanical arm, so as to actuate the motor to promote the mechanical arm 200 to perform according to the dragging gesture; when the external force disappears, the host responds to the displacement of the mechanical arm rapidly, and when the external force changes direction, the host sends out a new instruction, so that the mechanical arm responds to the external force to move in a new direction;
3. end limited mode: in this mode, the end of the mechanical arm (the seventh arm segment 215) can only move on the planned axis or in the plane track, or move in a cone shape with the stationary point as the center, and when the mechanical arm senses an external force, the host calculates a new posture of the mechanical arm after adapting to the external force again, and commands the mechanical arm to perform rapid adaptive adjustment.
4. End fixing mode: the end part of the mechanical arm is kept unchanged at the required position, the joints and other arm joints can perform active or passive position and posture adjustment, when the mechanical arm is subjected to external force, the host computer recalculates the new posture of the mechanical arm after adapting to the external force and commands the machine to perform rapid adaptive adjustment, so that in the operation process, a user can easily change the position and posture of the mechanical arm when being blocked by the mechanical arm, and the operation of the user is facilitated.
In one embodiment, the surgical assistance system of the present invention comprises a positioning probe, and with reference to fig. 4 and 5, fig. 4 shows a schematic view of the positioning probe 800 mounted on the end of the robotic arm 200, and fig. 5 shows an enlarged configuration of the positioning probe 800. The surgical assistance system of this embodiment is used in one specific surgical example as follows:
a) The host 100 of the surgical auxiliary system receives medical image data, such as magnetic resonance image data, functional magnetic resonance image data, CT image data, phase contrast magnetic resonance vascular imaging (PC-MRA) data, and the like, preferably the surgical data are unified in format, and then software "extraterrestrial robot planning software" preloaded in the host 100 constructs a three-dimensional model of the region to be operated, wherein vessels are displayed in the three-dimensional model, and a user plans out a surgical scheme according to a matched planning guideline to determine the travel path of the surgical instrument;
b) Pushing the arm rest 104 to fix the host 100 at a proper position, enabling a user to send an instruction through an input device 400 (such as a mouse or a keyboard) to enable the mechanical arm 200 to enter a driven motion mode, enabling the user to connect the positioning probe 800 on a flange 500 installed at the end 215 of the mechanical arm, enabling the positioning probe 800 to touch anatomical feature points or feature structure points with visible images and anatomies by manually dragging the mechanical arm 200, inputting coordinates of a patient into the host 100, and unifying a coordinate system of the patient with a coordinate system of the mechanical arm 200 through calculation to realize registration;
c) After registration is completed, the movement mode of the surgical auxiliary system is adjusted, a subsequent operation is performed, in the process of placing the deep electrode (see), the user replaces the positioning probe 800 connected with the flange 500 with the guide device 600, the host 100 sends an instruction to the mechanical arm 200 according to the operation plan planned in the step a, the mechanical arm 200 moves to a designated position, the user determines the direction and position of the drill through the guide device 600, installs surgical accessories such as a limiter according to parameters provided by the software of the external robot planning, then opens a hole at a target site (e.g. the head), and then advances along the through hole of the directional device to the designated position by using other surgical instruments such as a guide wire or an electrode to replace the drill. If the operation is a multi-step operation, the mechanical arm can be dragged to a required position by using a driven mode according to the pre-operation planning, then the mechanical arm enters an end fixing mode, the step is completed, and the operation is repeated for a plurality of times until all planning steps are completed.
In another embodiment, referring to fig. 3, the surgical assistance system of the present invention further comprises a scanning module 700 comprising a projection assembly 710 and an image acquisition device 720; preferably, the projection assembly includes an optical engine, a lens set, a digital micromirror element (Digital Micromirror Device), and a control module, and can project a specific coded image, and the image capturing device 720 is a binocular camera. The surgical assistance system of this embodiment is used in one specific surgical example as follows:
a) The host 100 of the surgical auxiliary system receives medical image data, such as magnetic resonance image data, functional magnetic resonance image data, CT image data, phase contrast magnetic resonance vascular imaging (PC-MRA) data, and the like, preferably the surgical data are unified in format, and then software "extraterrestrial robot planning software" preloaded in the host 100 constructs a three-dimensional model of the region to be operated, wherein vessels are displayed in the three-dimensional model, and a user plans out a surgical scheme according to a matched planning guideline to determine the travel path of the surgical instrument;
b) Referring to fig. 2 and 3, pushing the armrest 104 to fix the host 100 to a proper position, a user sends an instruction through the display device 300 (with an input function) to enable the mechanical arm 200 to enter a driven motion mode, the user connects the scanning module 700 on the flange 500 installed at the end 215 of the mechanical arm, the projection component 710 projects a specific coded image to a target area, the image acquisition device (camera) 720 acquires an image, and calculates a three-dimensional structure of the target area according to decoding of the coded image, preferably, software of the host 100 can control the mechanical arm 200 to automatically perform position posture adjustment according to the requirement of acquiring the image, after acquiring data for a plurality of times, the satisfactory three-dimensional structure is obtained, and then the three-dimensional structure of the operation area is registered with the three-dimensional model in the step a;
c) After registration is completed, the movement mode of the surgical auxiliary system is adjusted, operation is continued, in the process of placing the deep electrode, the user replaces the scanning accessory 700 connected with the flange 500 with the guide device 600, the host 100 sends an instruction to the mechanical arm 200 according to the operation plan planned in the step A, the mechanical arm 200 moves to a designated position, the user determines the direction and position of the drill through the guide device 600, installs the surgical accessory such as a limiter according to parameters provided by the off-the-road robot planning software, then opens a hole at a target site (e.g. a head), and then uses other surgical instruments such as a guide wire or an electrode to replace the drill, and advances along the through hole of the orientation device to reach the designated position. If the operation is a multi-step operation, the mechanical arm can be dragged to a required position by using a driven mode according to the pre-operation planning, then the mechanical arm enters an end fixing mode, the step is completed, and the operation is repeated for a plurality of times until all planning steps are completed.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A surgical assist system, comprising:
the host comprises a computer, a controller and an interface, and is used for receiving data, controlling the movement of the mechanical arm and outputting a calculation result;
the mechanical arm comprises a plurality of arm segments and joints and has at least 7 degrees of freedom, and can realize the position and posture adjustment of the joints and other arm segments under the condition that the spatial position of the end part of the mechanical arm is not changed;
an input device for receiving a command of a user;
the display device is used for displaying the calculation result of the host and the software interface;
a guide for assisting in the positioning and orientation of the surgical instrument;
a scanning module comprising any one of: an image acquisition device, a light emitting assembly and an image acquisition device, a projection assembly and an image acquisition device;
wherein the host may perform a method comprising:
a) Receiving image data by using a surgical operation auxiliary system, performing visual display, and planning an operation scheme in the image;
b) Fixing the surgical auxiliary system to an appropriate position of an operating room, and acquiring a three-dimensional structure for registration by using the scanning module at the tail end of the mechanical arm;
c) And adjusting the movement mode of the surgical auxiliary system, and performing guiding assistance by using the guiding device at the tail end of the mechanical arm according to a preset operation plan.
2. The system of claim 1, wherein the projection assembly comprises a light source, a lens group, a digital micromirror element, and a control module.
3. A surgical assistance system as claimed in claim 1 wherein said robotic arm has 7 degrees of freedom.
4. A surgical assistance system as claimed in any one of claims 1 to 3 further comprising a tracking module.
5. A surgical assistance system as claimed in claim 4 wherein said tracking module is an image acquisition device.
6. A surgical assistance system as claimed in claim 4 wherein said tracking module is an optical tracking device.
7. A surgical assistance system as claimed in claim 4 wherein said tracking module is an electromagnetic tracking device.
8. A surgical assistance system as claimed in claim 1 wherein said robotic arm is configured to sense a force experienced.
9. A surgical assistance system as claimed in claim 8 wherein each joint of said robotic arm has a sensor and a motor.
10. A surgical assistance system as claimed in claim 8 wherein the outermost layer of the robotic arm is a pressure sensitive layer to sense the forces experienced.
11. A surgical assistance system as claimed in claim 10 wherein the robotic arm calculates the force experienced from the change in current of the motor.
12. A surgical assist system as claimed in any one of claims 1 to 3, 5 to 11 wherein there are a plurality of motion control modes, including:
1. active motion mode: in the mode, a host machine sends a motion instruction to a mechanical arm according to a planned operation scheme, a motor is actuated to adjust the motion of the mechanical arm according to the instruction, emergency braking is carried out under the condition that external force is blocked, and a prompt is sent out;
2. driven motion mode: in the mode, an operator can drag the mechanical arm to position, and after the host receives the stress sensed by the mechanical arm, an auxiliary movement instruction is sent out according to the stress, and the mechanical arm is actuated to move according to the expected dragging;
3. end limited mode: in the mode, the end part of the mechanical arm can only move on a planned axis or in a plane track, or can move in a cone shape by taking a fixed point as a center, when the mechanical arm is subjected to external force, the host computer recalculates a new posture of the mechanical arm after being adapted to the external force, and commands the machine to carry out rapid adaptive adjustment;
4. end fixing mode: the end of the mechanical arm is kept unchanged at a required position, and the joints and other arm joints can be used for adjusting the position and the posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052976.6A CN109549706B (en) | 2019-01-21 | 2019-01-21 | Surgical operation auxiliary system and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052976.6A CN109549706B (en) | 2019-01-21 | 2019-01-21 | Surgical operation auxiliary system and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109549706A CN109549706A (en) | 2019-04-02 |
| CN109549706B true CN109549706B (en) | 2023-12-22 |
Family
ID=65873244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910052976.6A Active CN109549706B (en) | 2019-01-21 | 2019-01-21 | Surgical operation auxiliary system and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109549706B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12029511B2 (en) | 2023-07-02 | 2024-07-09 | Lem Surgical Ag | Bilateral surgical robotic system |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967071B (en) * | 2020-10-23 | 2023-09-29 | 成都博恩思医学机器人有限公司 | Control method and device for movement of mechanical arm of surgical robot along with operation bed |
| JP2024510007A (en) * | 2021-03-16 | 2024-03-05 | レム サージカル アーゲー | Bilateral surgical robotic system |
| CN113081274A (en) * | 2021-03-25 | 2021-07-09 | 江苏吉穆智能科技有限公司 | Intelligent orthopaedic surgery robot and control system thereof |
| CN113331949B (en) * | 2021-06-01 | 2022-10-21 | 武汉联影智融医疗科技有限公司 | Surgical robot system with registration probe and registration method thereof |
| CN116000911A (en) * | 2021-10-22 | 2023-04-25 | 瑞龙诺赋(上海)医疗科技有限公司 | Mechanical arm control method and device and mechanical arm |
| CN113855254B (en) * | 2021-10-24 | 2023-11-03 | 北京歌锐科技有限公司 | Medical equipment and operation method based on medical equipment |
| WO2023118985A1 (en) * | 2021-12-20 | 2023-06-29 | Lem Surgical Ag | Bilateral robotic spinal endoscopy |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102196776A (en) * | 2008-09-12 | 2011-09-21 | 艾可瑞公司 | Seven or more degrees of freedom robotic manipulator having at least one redundant joint |
| CN105050527A (en) * | 2013-03-15 | 2015-11-11 | 圣纳普医疗(巴巴多斯)公司 | Intelligent positioning system and methods therefore |
| CN108472028A (en) * | 2016-09-16 | 2018-08-31 | 威博外科公司 | Robots arm |
| CN209826970U (en) * | 2019-01-21 | 2019-12-24 | 华科精准（北京）医疗科技有限公司 | Surgical operation auxiliary system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017008137A1 (en) * | 2015-07-13 | 2017-01-19 | Synaptive Medical (Barbados) Inc. | System and method for providing a contour video with a 3d surface in a medical navigation system |
-
2019
- 2019-01-21 CN CN201910052976.6A patent/CN109549706B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102196776A (en) * | 2008-09-12 | 2011-09-21 | 艾可瑞公司 | Seven or more degrees of freedom robotic manipulator having at least one redundant joint |
| CN105050527A (en) * | 2013-03-15 | 2015-11-11 | 圣纳普医疗(巴巴多斯)公司 | Intelligent positioning system and methods therefore |
| CN108472028A (en) * | 2016-09-16 | 2018-08-31 | 威博外科公司 | Robots arm |
| CN209826970U (en) * | 2019-01-21 | 2019-12-24 | 华科精准（北京）医疗科技有限公司 | Surgical operation auxiliary system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12029511B2 (en) | 2023-07-02 | 2024-07-09 | Lem Surgical Ag | Bilateral surgical robotic system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109549706A (en) | 2019-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109549706B (en) | Surgical operation auxiliary system and application method thereof | |
| CN114711969B (en) | Surgical robot system and application method thereof | |
| US20210153956A1 (en) | Patient introducer alignment | |
| US11129684B2 (en) | System and method for maintaining a tool position and orientation | |
| US11896318B2 (en) | Methods and systems for controlling a surgical robot | |
| JP7025134B2 (en) | Surgical tool system | |
| CN216021360U (en) | Operation navigation system | |
| US11950858B2 (en) | Systems for performing computer assisted surgery | |
| CN110279427B (en) | Collision avoidance during controlled movement of movable arm of image acquisition device and steerable device | |
| WO2021114595A1 (en) | Navigation surgery system and registration method therefor, electronic device, and support apparatus | |
| CN112043382A (en) | Surgical navigation system and use method thereof | |
| CN209826970U (en) | Surgical operation auxiliary system | |
| CN209826968U (en) | Surgical robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |