CN111012499A

CN111012499A - Medical auxiliary robot

Info

Publication number: CN111012499A
Application number: CN201811644911.2A
Authority: CN
Inventors: 刘文博; 楚晨龙; 韩萌; 张东东; 金宝峰
Original assignee: Sino Precision Beijing Medical Technology Co ltd
Current assignee: Sino Precision Beijing Medical Technology Co ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2020-04-17
Anticipated expiration: 2038-12-29
Also published as: CN215778612U; WO2020135784A1; AU2019415870A1; AU2019415870B2; CN111012499B

Abstract

The present invention provides a medical auxiliary robot, including: a fixed connection device for fixing a structure to which the ends thereof are connected; the position adjusting device comprises a base, a power structure and at least two sets of moving assemblies, wherein each set of moving assembly comprises two parts capable of moving relatively, and the power structure can promote the two parts to move relatively; the control device is used for regulating and controlling the power structure and is in communication connection with the outside; a guide for defining a path of movement of the surgical instrument; the position adjusting device is connected with the tail end of the fixed connecting device, and the guide device is hinged with the two sets of moving assemblies of the position adjusting device through the connecting piece, so that the guide device changes the spatial position according to the movement of the two sets of moving assemblies, and the positioning of the guide device in a three-dimensional space is realized. The robot has small volume and flexible structure, and is suitable for being used in combination with the existing navigation system, ultrasonic system and the like.

Description

Medical auxiliary robot

Technical Field

The invention relates to the technical field of medical equipment, in particular to a medical auxiliary robot.

Background

Puncture surgery is one of the common types of surgery in clinical surgery, and specific applications include, but are not limited to, hematoma aspiration, cyst aspiration, tissue biopsy, drug delivery, and the like.

In a traditional puncture operation, the location of a puncture needle is generally confirmed according to a CT image of a patient, then a doctor can roughly determine a puncture path according to the lesion location and puncture the puncture needle, for the sake of safety, generally, every 1-2 cm of the puncture needle is inserted, and a CT scan is performed so as to correct the advancing direction of the puncture needle, so that the patient needs to receive multiple CT scans and receive larger radiation in the whole operation process. The design of the puncture path in the method depends on the judgment of the experience of a doctor, bleeding caused by puncturing a blood vessel exists, and the method has the risks that the error is large for small and deep focuses, the focuses cannot be reached and the like.

In recent years, the appearance of stereotactic technology helps doctors to position the operation approach by using more scientific means, and the stereotactic brain electrode has wide application in operations such as deep brain stimulation, epileptic focus positioning, stereotactic brain electrode implantation and the like. The method of stereotactic includes a stereotactic frame and a stereotactic surgical robot. In both methods, the spatial coordinates of each position of the head are obtained through three-dimensional reconstruction by pre-scanning the head CT, a doctor designs an access under the coordinate system, and then accurate puncture path guidance is realized according to the coordinates in the operation.

Compared with the traditional operation mode, the stereotactic technique has obvious advantages that: the method is accurate, can avoid important tissues in advance, and ensures the safety and effectiveness of the operation. However, the prior art has the problem of long preparation time, for operations such as suction and biopsy, the use of the stereotactic technology can greatly increase the preparation time of the operations, is not suitable for emergency operations such as hemorrhagic stroke and the like, and in addition, the CT with mark scanning is required in the preparation operation process, so that the radiation exposure of patients is increased; additional trauma may result during headgear installation. In addition, the stereotactic surgical robot is high in price, difficult to popularize and use in a common hospital, and incapable of benefiting patients.

Disclosure of Invention

In view of the above, in order to solve the problems in the prior art, the inventor proposes a small-sized and flexibly-mounted auxiliary medical robot, which has a fast response speed, accurate puncture positioning, small wound, small size, light weight, low price, and is easy to use in combination with the prior art.

The present invention provides a medical auxiliary robot, including:

a fixed connection device for fixing a structure to which the ends thereof are connected;

the position adjusting device comprises a base, a power structure and at least two sets of moving assemblies, wherein each set of moving assembly comprises two parts capable of moving relatively, and the power structure can promote the two parts to move relatively;

the control device is used for regulating and controlling the power structure and is in communication connection with the outside;

a guide for defining a path of movement of the surgical instrument;

the guiding device is hinged to a moving assembly of the position adjusting device through a connecting piece, so that the guiding device changes the spatial position according to the movement of the moving assembly, and the positioning of the guiding device in a three-dimensional space is realized.

In one embodiment, the position adjusting device for the medical auxiliary robot comprises two sets of moving components, each set of moving components comprises two planes which are arranged in parallel and can move relatively, and the power structure can promote the two planes of each set of moving components to move relatively in the direction perpendicular to each other.

The guide means of the medical auxiliary robot of the present invention may have any suitable shape as long as it has a through hole through which an elongated instrument can be passed and positioned, the through hole being preferably cylindrical or conical, most preferably cylindrical; the through holes may have different inner diameters to accommodate different sizes of medical instruments.

A portion of the medical assist robot of the present invention can be detected in position in medical imaging, such as a base, a connector, a guide, a portion of a base, a portion of a connector, a portion of a guide, and the like. In one embodiment, the guiding device of the medical auxiliary robot of the present invention comprises a portion capable of detecting its position in medical imaging, i.e. the guiding device or a portion thereof is made of a material capable of being detected in the prior medical imaging techniques of medical imaging, such as Magnetic Resonance Imaging (MRI), X-ray Computed Tomography (CT), or X-ray imaging, so that the spatial position of the guiding device can be determined in medical imaging and can be adjusted so that the guiding device reaches a specified position. In a preferred embodiment, the part of the guiding device that can be monitored to position in medical imaging has a special structure, which can be detected in medical imaging and then calculate the spatial position of the guiding device through hole, for example, two parallel half-arc structures with different lengths are arranged at different heights, the position of the two parallel half-arc structures is identified according to the medical image, and then the spatial position of the guiding device central through hole is calculated; however, the design of the specific structure is not limited to this, as long as the spatial position of the central through hole of the guide device can be determined by calculation.

The medical auxiliary robot also comprises a positioning marker which can be fixedly installed; or may be removable; it is also possible to mount or constitute a separate positioning fitting by means of a pre-designed connection structure. The localization markers may be chosen in a variety of ways as long as the spatial position of the guide can be determined by medical imaging or in cooperation with other localization systems. Localization markers include, but are not limited to: markers, optical markers, magnetic localization markers, etc., whose position can be detected in medical imaging (e.g., existing medical imaging techniques such as MRI, CT, X-ray, etc.); the optical marker may be an active optical marker that actively emits light, or may be a passive optical marker that passively reflects light. Different localization markers need to be used with different systems.

In the case where the medical assistant robot of the present invention uses a marker detectable by medical imaging, it is necessary that the entire puncture assistant robot is compatible with the corresponding medical imaging apparatus. When the markers can be monitored by using magnetic resonance, the robot is compatible with magnetic resonance, mainly adopts nonmagnetic component assembly, and obtains the concerned operation position and the image and the position of the robot in the magnetic resonance imaging. The positioning markers may be provided at any suitable part of the robot of the invention other than the fixed attachment means. In one embodiment, a positioning marker is disposed on the base of the position adjustment device, and a position feedback device is added to reduce errors generated by the power structure during use, thereby preventing conduction errors when calculating the position of the guide device based on the position of the base. In another embodiment, the localization markers are disposed on a guide.

When the medical assistance robot of the present invention uses a positioning marker whose position can be detected by CT, a marker having any suitable material and shape may be used; preferably the localization markers are made of a high density material and have a relatively sharp contour and regular geometry in CT; more preferably, metal spheres are used; in one embodiment, at least three metal balls are arranged on the base, the position of the base is determined through the positions of the metal balls in the CT, and in order to reduce errors generated in the process of calculating the position of the guiding device based on the base, a position feedback device is additionally arranged to ensure the position accuracy of the guiding device. In another embodiment, at least three metal spheres are arranged on the guide device, and the spatial position of the guide device can be determined by the volume and the installation position of the metal spheres in the CT. In a further embodiment, the spatial position of the guide device can be calculated by using the positioning markers to calibrate the spatial position of the first connecting element and the second connecting element respectively. The aforementioned metal ball may be made of a magnetic resonance compatible metal, so that the medical-assisted robot of the present invention may be compatible with both T and MRI methods at the same time. The CT device may be any suitable device including, but not limited to, O-arm CT, C-arm CT, and the like.

When the medical auxiliary robot of the present invention can detect the markers at the positions thereof by using X-ray imaging, the distribution and arrangement of the markers can refer to the description of the aforementioned CT imaging, and obtaining the spatial positions of the calibrated structures by the related positioning markers is known to those skilled in the art and will not be described in detail.

When the medical auxiliary robot uses the optical marker, the medical auxiliary robot can use a camera for monitoring, and the optical marker can be an active optical marker capable of emitting light or a passive optical marker capable of reflecting light; optical markers are well known to those skilled in the art and may have a variety of shapes and features, such as ball-type markers, patterns containing angular points, and the like. One example uses a binocular camera to monitor light reflected by spherical markers (reflective spheres) that are actively illuminated or passively reflected, to determine the spatial position of the spherical markers and the guide; when the reflective ball type marker is used, a light emitting unit is needed, light rays are emitted to the reflective ball by the light emitting unit, and the camera monitors the light reflected by the reflective ball, so that the position of the reflective ball is calculated.

The medical auxiliary robot of the invention uses a matched electromagnetic sensing device to monitor the spatial position of the magnetic positioning device under the condition of using the magnetic positioning marker, thereby obtaining the spatial position of a component (such as a guide device) marked by the magnetic positioning marker. Magnetic positioning markers may be used to track different parts of the medical assist robot of the present invention, such as the base, connectors, guides, etc.

The fixing and connecting device of the medical auxiliary robot is various structures capable of fixing the position adjusting device at a proper position relative to a patient, such as a universal arm, a support, an arc-shaped frame, a multi-degree-of-freedom mechanical connecting structure and the like. In one embodiment, the fixed connecting device is an arc-shaped frame which can slide along the guide rail on the sickbed, and the position adjusting device is connected to the arc-shaped frame and can slide and be locked at any position on the arc-shaped frame. In another embodiment, the fixed connecting device is a rectangular frame which can slide along the guide rail on the sickbed, and the position adjusting device is connected to a cross beam of the rectangular frame and can slide on the cross beam and be locked at any position. In yet another embodiment, the fixed connection is a universal arm comprising at least one joint, preferably a universal arm comprising three joints, including a fastening structure, a support arm, a first joint, a first adjustment arm, a second joint, a second adjustment arm, a third joint, and a connection arm; the fastening structure is connected with the fixture and the supporting arm, and the first joint is connected with the supporting arm and the first adjusting arm; the second joint is connected with the first adjusting arm and the second adjusting arm, and the third joint is connected with the second adjusting arm and the connecting arm. In one embodiment, the fixed attachment is a multi-segmented, drawable extension that can be pulled to a desired length.

The power structure of the puncture auxiliary robot can be various schemes for realizing the movement of two components of two sets of moving assemblies in the position adjusting device according to requirements, such as a motor, a wire driving structure, a torque transmission structure and the like.

In one embodiment, the power structure of the puncture-assisting robot of the present invention is a motor, for example, four stepping motors are adopted, the stepping motors are connected with a plane through kinematic pairs, the stepping motors push the movement of one plane through the kinematic pairs, the two stepping motors realize the relative movement of two planes of a set of moving components, and the two planes can respectively move in the directions perpendicular to each other, so that the connected connecting piece can move in two dimensions. The kinematic pair can be a screw and thread structure, and the stepping motor drives the screw to move and then drives the plane to move. The movement of the two sets of moving assemblies drives the guide device to move and position in a three-dimensional space.

The motor can be a non-magnetic motor, i.e. the motor is magnetic resonance compatible.

The puncture auxiliary robot comprises a control device, wherein the control device is used for regulating and controlling a power structure and is in communication connection with the outside. The control device has the capacity of data processing and receiving and sending, receives commands from a user or a navigation system matched with the user and the like, and sends commands to the power structure, so that the position of the guiding device is adjusted to reach a desired spatial position. The control device may be present in many ways, e.g. as a separate entity, may be incorporated in the control center of a commonly used navigation system, or may be integrated with the structure of the position adjustment device. The control device can be controlled in a wired mode or can be accessed to a network through a wireless device, and therefore operation and control are achieved. In some embodiments, the control device may interact data and commands with a mobile smart device of the hospital, such as a tablet computer, through a wireless connection, so as to facilitate the user to control the medical assistance robot.

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 aforementioned and other objects, features and advantages of the present invention 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 used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a medical assistance robot according to the present invention;

fig. 2 is a schematic structural view of the medical assistance robot of fig. 1 showing one embodiment of a fixed connection structure 100;

FIG. 3 is a schematic diagram of an appearance of one embodiment of

portions

200 and 400 of FIG. 1;

FIG. 4 shows an internal structure of a portion 200 in FIG. 3;

FIG. 5 is a schematic view of a locating fitting 500 according to one embodiment of the present invention;

fig. 6 is a schematic view of a medical auxiliary robot in a state where the positioning accessory 500 is used in combination with other parts during use according to an embodiment of the present invention;

fig. 7 is a schematic view of a medical assistance robot according to another embodiment of the present invention, in which a control device 300 exists separately, controlling a position adjustment device 200 through a wired connection;

FIG. 8 is a block diagram of a medical assistance robot according to one embodiment of the present invention;

FIG. 9 illustrates the structure of a guide according to one embodiment of the present invention;

FIG. 10 illustrates a positioning marker design according to one embodiment of the present invention, the positioning marker being mounted on a guide.

FIG. 11 illustrates a positioning marker design according to another embodiment of the present invention, the positioning marker being mounted on a base.

FIG. 12 illustrates a positioning marker design according to yet another embodiment of the present invention, the positioning marker being assembled on a connector.

Icon:

000-fixed; 100-a fixed connection means; 200-a position adjustment device; 300-a control device; 400-a guide; 101-fastening structure, 102-support arm, 103-first joint, 104-first adjustment arm, 105-second joint, 106-second adjustment arm, 107-third joint, 108-connecting arm; 2001-housing, 201-base, 211-first plane, 212-second plane, 213-first motor, 214-second motor, 221-third plane, 222-fourth plane, 223-third motor, 224-fourth motor; 215-first connector, 225-second connector, 401-guide catheter, 402-long arc configuration, 403-short arc configuration; 500-positioning accessory, 511-first spherical optical marker, 512-second spherical optical marker, 513-third spherical optical marker, 514-fourth spherical optical marker; 601-localization marker, 602-localization marker, 603-localization marker, 604-localization marker, 605-localization marker, 606-localization marker.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the medical assistance robot includes: a fixed connection device 100, the proximal end of which is connected to a fixture, such as a wall, a bed, a ceiling, a floor, a head frame, etc., and the distal end of which is connected to the base 201 of the position adjustment device 200, so as to fix the position adjustment device 200 at a desired position; the position adjusting device 200 comprises a base, a power structure and at least two sets of moving components, wherein the components can move relatively and can drive the guide device 400 to move to a required position; the control device 300 is used for controlling the movement of the position adjusting device 200 and realizing communication connection with other systems; a guide 400, defining the medical device in a given spatial position and orientation, generally containing a through-hole, suitable for defining an elongated medical device, such as a drill, an electrode, a puncture needle, etc.;

fig. 2 shows an embodiment of the fixing and connecting device 100 of the medical auxiliary robot according to the present invention, the fixing and connecting device 100 connects a fixture 200, the fixture 000 may be a wall, a stage, a ceiling, a bed, a head frame, etc., preferably a bed, to keep the position adjusting device 200 relatively close to the patient and relatively fixed in position; the fastening structure 101 connects the fixture 000 with the support arm 102, and the first joint 103 connects the support arm 102 and the first adjustment arm 104, preferably with universal adjustment; a second joint 105 connects the first adjusting arm 104 and the second adjusting arm 106, and a third joint 107 connects the second adjusting arm 106 and the connecting arm 108; the securing device 101 may be a variety of clamping structures, such as a spring clip. The support arm 102, the first adjustment arm 104, the second adjustment arm 106, and the connecting arm 108 are elongated rigid structures, such as cylinders, cuboids, and the like. Referring to fig. 8, a specific exemplary structure is shown, wherein the fastening device 101 is not shown, the support arm 102 is shown, the first joint 103 connects the support arm 102 and the first adjusting arm 104, and the first joint 103 can realize 360 degrees of rotation and can realize a screw-fastening fixation; a second joint 105 connects the first adjusting arm 104 and the second adjusting arm 106, and a third joint 107 connects the second adjusting arm 106 and the connecting arm 108; the connecting arm 108 is connected to the position adjustment device 200, and the position adjustment device 200 is hinged to the guide 400.

Referring to fig. 3 and 4, there are shown the external appearance and internal structure of a position adjusting apparatus 200 and a guide apparatus 400 of one embodiment, the position adjusting apparatus including a housing 2001, a base 201, a power structure, a first moving assembly and a second moving assembly. The first moving assembly comprises a first plane 211, a second plane 212, and corresponding power assemblies, namely a first motor 213 and a second motor 214; the second moving assembly comprises a third plane 221, a fourth plane 222 (not shown here), and corresponding power structures are a third motor 223, a fourth motor 224; the first motor 213 controls the movement of the first plane 211 through a kinematic pair, the second motor 214 controls the movement of the second plane 212 through a kinematic pair, and the movement directions of the second plane 212 and the first plane 211 are perpendicular to each other, so as to drive the first connecting piece 215 connected to the first plane 211 to move in two dimensions; the third motor 223 controls the movement of the third plane 221 through a kinematic pair, the fourth motor 224 controls the movement of the fourth plane 222 through a kinematic pair, and the movement directions of the fourth plane 222 and the third plane 221 are perpendicular to each other, so as to drive the second connecting piece 225 connected to the third plane 221 to move in two dimensions; controlled positioning of guide catheter 401 in three-dimensional space is achieved through movement of first link 215 and second link 225. The guide 400 may comprise only the guide catheter 401, may be provided with

special structures

402 and 403, or may be equipped with a positioning fitting.

The position adjustment device 200 and the guide 400 are made of a suitable material (e.g., engineering plastic, etc.), in one embodiment, the motors (the first motor 213, the second motor 214, the third motor 223, and the fourth motor 224) are nonmagnetic motors, and the fixed connection device 100, the rest of the position adjustment device 200, and the guide 400 are made of a magnetic resonance compatible material, such as engineering plastic and rubber. So that the puncture-assisting robot of the invention can be used under the condition of magnetic resonance.

And a control device 300 for controlling the movement of the position adjustment device 200, wherein the control device may be a separate module or may be integrated. Where present alone, it may be effective to control the stepper motors, and in one particular example the first motor 213, the second motor 214, the third motor 223 and the fourth motor 224, via wired or wireless connections. An example of the control device integrated into the position adjustment device 200 is shown in fig. 1. Fig. 7 shows another embodiment, in which the control device is present alone, and the position adjusting device 200 is controlled via an active communication link. In another case, the control device may be integrated into other instruments commonly used or directly receive commands from other instruments, for example, in the case of being used with a surgical navigator, the control center of the surgical navigator may be used to control the puncture-assisting robot of the present invention after being relayed by the control device 300.

The guide 400 is a structure having a through hole for allowing various elongated medical devices to pass through and to define a direction, and the shape of the guide 400 is not limited. Preferably, the through-hole is cylindrical in shape and may have different pore sizes to accommodate different medical instruments.

In one embodiment, the guide 400 further comprises a localization marker, which may be integrated on the guide catheter 401 or may be a detachable separate member. The localization markers can be chosen in a variety of ways, the most suitable being chosen according to requirements, for example the localization markers are members of which the position can be monitored in medical imaging (MRI, CT, X-ray), or magnetic localization markers, which can detect the position by electromagnetic navigation, or optical markers. In one embodiment, three or more positioning markers constitute a single assembly, such as positioning assembly 500, which has a specific geometry and is equipped with four spherical optical markers (first spherical optical marker 511, second spherical optical marker 512, third spherical optical marker 513, and fourth spherical optical marker 514), as shown in fig. 5, wherein the optical markers actively emit light, and during use, the positioning assembly 500 is inserted into the through hole of the guiding catheter 401, and the light emitted from the optical markers is captured by the camera, so that the position of the positioning assembly 500 can be determined through calculation, and thus the spatial position of the guiding catheter 401 and the spatial position of the through hole thereof can be determined. In another embodiment, the positioning accessory 500 is a spherical optical marker with four specific geometric structures, i.e. a first spherical optical marker 511, a second spherical optical marker 512, a third spherical optical marker 513, and a fourth spherical optical marker 514, as shown in fig. 5, wherein the spherical optical markers can reflect light, and the light emitted from the light emitting unit is reflected by the passive optical markers, received by the camera, and then the spatial position of the guiding catheter 401 and the spatial position of the through hole thereof are determined by calculation. The optical markers are not limited to spherical optical markers but include existing technologies such as corner points known to those skilled in the art as long as optical tracking can be achieved.

Referring to fig. 5, in one embodiment, the positioning assembly 500 is detachable and includes a body 501 and a pyramid 502, and four ball-type optical markers (a first ball-type optical marker 511, a second ball-type optical marker 512, a third ball-type optical marker 513, and a fourth ball-type optical marker 514) are mounted on the body 501. Referring to fig. 6, the cone 502 of the positioning accessory 500 is inserted into the through hole of the guide catheter 401, the position of the guide catheter 401 is calibrated through the body 501, the position of the catheter is displayed in a virtual three-dimensional model of software, the guide catheter 401 is adjusted to a desired position according to preoperative planning, and then surgical instruments such as an electric drill, a guide wire, an electrode and the like can be passed through the through hole of the guide catheter 401, so that the stereotactic surgery can be performed.

A portion of the medical assist robot of the present invention can be detected in position in medical imaging, such as a base, a connector, a guide, a portion of a base, a portion of a connector, a portion of a guide, and the like. In one embodiment, the guide 400 of the medical assist robot of the present invention, or a portion thereof, is configured to be positionable directly in medical imaging. In one embodiment, referring to FIG. 4, the guide catheter 401 may be made of a material that is specific to the structure of the catheter, such that it can be displayed during medical imaging (e.g., MRI, CT, X-ray, etc. prior art medical imaging techniques) and the center position and orientation of its through-hole can be determined by calculation. In another embodiment, referring to fig. 9, a

portion

402 and 403 of guide catheter 401 is composed of a substance that can be visualized in medical imaging as to its contour and position, and 402 and 403 are portions of the wall of guide catheter 401 that are contoured in two parallel arcuate configurations of different lengths, so that the center position and orientation of the through-hole of guide catheter 401 can be calculated. It is apparent that the structural design of this embodiment is merely exemplary, and any structure capable of determining the center position and direction of the through-hole by calculation is included in the scope of the present invention.

In another aspect, the medical assist robot of the present invention includes markers that can be used to indicate position during medical imaging, so that the guide 400 can be positioned during medical imaging.

In a specific embodiment of this embodiment, referring to fig. 10, the medical assist robot of the present invention has three

localization markers

601, 602, and 603 embedded on the guide catheter 401, the size and embedding position of the markers are known, and the size of the guide catheter 401 is known, so that the orientation and position of the guide catheter 401 can be calculated from the positions of the three localization markers in medical imaging. The number of markers may be more than three, or may be detachable, i.e. mounted in place prior to use.

In another specific embodiment of this solution, the medical assistance robot of the invention is equipped with positioning markers on the base 201 or in a fixed position relative to the base 201, see fig. 11, showing three positioning

markers

601, 602 and 603, since the mounting position is known, the position of the base 201 can be determined in medical imaging by the positioning

markers

601, 602 and 603, the orientation and position of the guiding catheter 401 being calculated by the control means 300 based on the movement of the motor and the base 201. In order to ensure that the calculated movement distance based on the motor rotation is correct, position feedback means are added in this solution to confirm that the recorded movement distance based on the motor rotation is completely correct. It is obvious that the number of the positioning markers can exceed 3, the shape can be other shapes capable of calculating the geometric center, and the positioning markers can also be detachable.

In yet another embodiment of this embodiment, the medical assist robot of the present invention has positioning markers mounted on the connector or a plane fixed in positional relationship to the connector, see fig. 12, showing an example comprising two sets of positioning markers, a first set of

markers

601, 602 and 603 that can determine the spatial position of the first connector 215 and a second set of

markers

604, 605 and 606 that can determine the spatial position of the second connector 225 so that the orientation and position of the guide catheter 401 can be calculated. The number of each group of positioning markers can exceed 3, and the appearance can be other shapes capable of calculating the geometric center and can also be detachable.

In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A medical assistance robot, comprising:

a guide for defining a path of movement of the surgical instrument;

2. The medically assisted robot of claim 1, wherein a portion of the medically assisted robot is detectable in position in medical imaging.

3. The medical assist robot of claim 2, wherein the guide or a portion of a guide is capable of being detected in position in medical imaging.

4. The medically assisted robot of claim 1, further comprising a localization marker.

5. The medically-assisted robot of claim 4, wherein the position of the localization marker is detectable in medical imaging.

6. The medically assisted robot of claim 5, wherein the medical imaging is Magnetic Resonance Imaging (MRI), X-ray computed tomography imaging (CT), or X-ray imaging.

7. The medical assist robot of claim 4, wherein the localization marker is an optical marker whose position is detectable by an optical tracking system.

8. The medical assist robot of claim 7, wherein the optical marker is an active optical marker capable of emitting light or a passive optical marker capable of reflecting light.

9. The medical assist robot of claim 4, wherein the localization marker is a magnetic localization marker whose position is detectable by an electromagnetic navigation system.

10. The medical assist robot of claim 1, wherein the fixed attachment is any mechanical structure capable of securing the position adjustment device relative to the patient.