CN112137726A - Surgical navigation robot system and working method thereof - Google Patents
Surgical navigation robot system and working method thereof Download PDFInfo
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- CN112137726A CN112137726A CN202011156300.0A CN202011156300A CN112137726A CN 112137726 A CN112137726 A CN 112137726A CN 202011156300 A CN202011156300 A CN 202011156300A CN 112137726 A CN112137726 A CN 112137726A
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- 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
- A61B34/32—Surgical robots operating autonomously
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- 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
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Abstract
The invention relates to a surgical navigation robot system and a working method thereof. According to the invention, by arranging the control assembly and the operation assembly, the operation navigation is carried out by means of the control assembly, the operation assembly is controlled to move according to the navigation route, the work of the abrasive drilling assembly arranged on the mechanical arm is combined, the mechanical arm is used for simulating hands, the stability of the abrasive drilling assembly during operation can be improved, the operation difficulty can be reduced, and the high-precision microsurgery operation device is suitable for high-precision operation areas and is easy to influence the operation precision and the operation progress due to hand shaking after fatigue.
Description
Technical Field
The invention relates to a surgical navigation system, in particular to a surgical navigation robot system and a working method thereof.
Background
Surgical navigation systems are playing an increasingly important role in modern surgery, and their potential has not yet been fully released. For example, in the conventional ear microsurgery, the middle ear mastoid operation is taken as a representative operation, mastoid excision is mainly completed, an operator learns the dilemma that the conventional operation needs as long as 10 years, and less than 2000 mastoid excision doctors can be completed at home at present. The otitis incidence rate in developing countries reaches 0.4%, middle ear mastoid operation is the main work in the ear department at present in China, and still is the main work in the next 50 years. The ear neurosurgery is represented by artificial cochlea implantation, and mainly completes the electrode implantation channel and the electrode implantation. Conventional cochlear implant surgery requires a large range of mastoid bone that should not be resected, and implantation of electrodes in human hands impairs residual hearing. At present, about 200 doctors can be done in China, but about 100 doctors with few surgical complications can be done domestically. With the aging of population and the fine screening of hearing, the operation of the cochlear implant robot will be the mainstream. Lateral cranial base surgery is represented by acoustic neuroma and glomus jugulare. The traditional operation needs to fully remove temporal bone, press cerebellum tissue, raise the dura mater of the middle cranial fossa, even shift facial nerves and remove the labyrinthine of the inner ear with normal function, and at present, the number of domestic otologists who can complete the lateral skull base operation is less than 100. Auditory neuroma is the main business of neurosurgery and otocraniofacial surgery, but the traditional craniotomy has many complications. Meanwhile, the same problems are faced in the traditional surgical operations of neurosurgery, orthopaedics and the like: the number of doctors capable of performing the operation is seriously insufficient, the operation time is long, the radiation time of the doctors during the operation is long, and the like.
With continuous progress and development of medical theory, surgical operation develops towards more and more elaborate and complex directions, traditional medical knowledge is difficult to meet operation requirements due to various defects in technology, an existing operation navigation system generally adopts a miniature camera for scanning, and a doctor carries out operation by holding a grinding drill by hand, so that the method is not suitable for operation in a high-precision operation area and is not suitable for high-precision microsurgical operation which is easy to cause hand shake after fatigue to influence operation precision and operation progress.
Therefore, there is a need to design a new system, which can reduce the difficulty of the operation, and is suitable for the high-precision microsurgery operation in the high-precision operation area, and the hand shake after fatigue is easy to influence the operation precision and the operation progress.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a surgical navigation robot system and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: the surgical navigation robot system comprises a control assembly and an operation assembly, wherein the operation assembly comprises an operation controller, a mechanical arm assembly and a grinding drill assembly, the grinding drill assembly is connected with the mechanical arm assembly, the operation controller is connected with the mechanical arm assembly, and the control assembly is connected with the operation controller.
The further technical scheme is as follows: the mechanical arm assembly comprises a mechanical arm, and the mechanical arm is connected with the operation controller.
The further technical scheme is as follows: the mechanical arm assembly further comprises a rack, the operation controller is installed in the rack, and the mechanical arm is connected above the operation controller.
The further technical scheme is as follows: a plurality of first universal casters are connected below the rack.
The further technical scheme is as follows: the abrasive drilling assembly comprises a drill bit, and the drill bit is connected with the tail end of the mechanical arm through a connecting piece.
The further technical scheme is as follows: the rack is also provided with a network interface, and the network interface is connected with the operation controller.
The further technical scheme is as follows: the abrasive drilling assembly further comprises a sensor connected to the end of the robotic arm, the sensor being connected to the operation controller.
The further technical scheme is as follows: the control assembly comprises a navigation unit, a display unit and a surgical controller, wherein the navigation unit and the display unit are respectively connected with the surgical controller, and the surgical controller is connected with the operation controller.
The further technical scheme is as follows: the lower part of the operation controller is connected with a support, and the lower part of the support is connected with a plurality of second universal casters.
The invention also provides a working method of the surgical navigation robot system, which comprises the following steps:
the control assembly outputs a control signal to the operation controller, the operation controller drives the mechanical arm assembly to move according to a specified navigation route, and the operation controller drives the abrasive drilling assembly to work.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, by arranging the control assembly and the operation assembly, the operation navigation is carried out by means of the control assembly, the operation assembly is controlled to move according to the navigation route, the work of the abrasive drilling assembly arranged on the mechanical arm is combined, the mechanical arm is used for simulating hands, the stability of the abrasive drilling assembly during operation can be improved, the operation difficulty can be reduced, and the high-precision microsurgery operation device is suitable for high-precision operation areas and is easy to influence the operation precision and the operation progress due to hand shaking after fatigue.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic block diagram of a surgical navigation robot system provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a control module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an operating assembly according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.
As shown in fig. 1 to 3, the surgical navigation robot system provided in this embodiment can be applied to a high-precision operation area, and is prone to shake hands after fatigue to affect the high-precision microsurgery operation of the operation precision and the operation progress.
Referring to fig. 1, the surgical navigation robot system includes a control assembly 1 and an operation assembly 2, wherein the operation assembly 2 includes an operation controller 207, a robot arm assembly 20 and a drill grinding assembly, the drill grinding assembly is connected to the robot arm assembly 20, the operation controller 207 is connected to the robot arm assembly 20, and the control assembly 1 is connected to the operation controller 207.
The automatic movement of manipulator subassembly 20 is driven by operation controller 207, imitates the motion range of human arm to combine control assembly 1 to carry out the navigation of accurate location and operation, can reach and shorten operation time, adopt manipulator subassembly 20 and abrasive drilling subassembly complex mode, can enlarge the doctor field of vision, reduce the hand and shake, the precision promotes to the submillimeter level, and then improves the operation precision, supplementary completion operation has reduced the operation degree of difficulty by a wide margin.
In one embodiment, referring to FIG. 3, the robot assembly 20 includes a robot 201, and the robot 201 is connected to an operation controller 207.
In the present embodiment, the robot arm 201 has six or more degrees of freedom, and the robot arm 201 includes a distal joint, a first link arm, a second link arm, and an intermediate joint connected to the first link arm and the second link arm, respectively.
When the first link arm of the mechanical arm 201 rotates by taking the axis of the second joint as a rotating shaft, the maximum rotating angle is 360 degrees; when the second link arm of the robot arm 201 rotates about the axis of the fourth joint as a rotation axis, the maximum rotation angle is 360 degrees.
In one embodiment, referring to fig. 3, the robot assembly 20 further includes a frame 203, an operation controller 207 is installed in the frame 203, and the robot 201 is connected above the operation controller 207.
In one embodiment, referring to fig. 3, a plurality of first universal casters 206 are connected to the bottom of the frame 203. The first universal caster 206 can be used for pushing the operating component 2 at will, so that the operating component 2 is convenient to use.
Extending plates 205 extend outward from both sides of the frame 203, and first universal casters 206 are connected below the extending plates 205.
In one embodiment, the drill grinding assembly further comprises a feedback unit 209, the feedback unit 209 is connected with the operation controller 207, and the feedback force between the drill grinding assembly and the human body is measured and transmitted through the feedback unit 209, so that the protection of the patient during the operation is realized, and the operation is safe and effective.
In addition, the drill grinding assembly further comprises a grinding control unit 208, the grinding control unit 208 being connected to the operation controller 207.
In one embodiment, referring to FIG. 3, the drill assembly includes a drill head 202, and the drill head 202 is connected to the end of the robotic arm 201 by a connector.
The drill 202 is matched with the grinding unit to realize minimally invasive open-hole type operation, so that the postoperative recovery difficulty and risk of patients can be reduced.
In an embodiment, referring to fig. 3, the rack 203 is further provided with a network interface 204, and the network interface 204 is connected to the operation controller 207.
In one embodiment, the drill mill assembly further comprises a sensor attached to the end of the robotic arm 201, the sensor being connected to the operation controller 207.
In an embodiment, referring to fig. 2, the control assembly 1 includes a navigation unit 101, a display unit 102 and a surgical controller 103, the navigation unit 101 and the display unit 102 are respectively connected to the surgical controller 103, and the surgical controller 103 is connected to the operation controller 207.
In addition, a support 104 is connected to the lower side of the surgical controller 103, and a plurality of second casters 105 are connected to the lower side of the support 104.
In one embodiment, the control assembly 1 further comprises a camera and a speaker, and the camera and the speaker are respectively connected to the surgical controller 103. Referring to fig. 3, the control assembly 1 includes a network cloud unit 106, the network cloud unit 106 is connected to the surgical controller 103, and the surgical controller 103 is connected to a network interface 204 through a robot control unit, so as to connect the surgical controller 103 to an operation controller 207.
When carrying out the operation navigation, the patient crouches on the inspection bed with suitable position, and operation assembly 2 can be put in patient's side, makes things convenient for the abrasive drilling subassembly to carry out the operation to the patient. An operator positions the surgical site of a patient through the control assembly 1, and images of the patient, the surgical site and the abrasive drilling assembly are unified to the same coordinate system, so that tracking and navigation of the surgery are realized.
The control assembly 1 uploads the processed data to the cloud processing system through the network cloud unit 106, the cloud processing system performs cloud AI processing, and feeds back a processing result to form a control signal, drives the operation controller 207 to execute corresponding operation, so that the operation controller 207 drives the manipulator assembly 20 to move according to a specified navigation route, and the operation controller 207 drives the drill grinding assembly to work.
In the present embodiment, the first caster 206 and the second caster 105 are, but not limited to, lockable casters.
In one embodiment, the control unit 1 further comprises a foot switch connected to the surgical controller 103, and the foot switch is mounted on the bracket 104.
By means of the characteristics of stability, accuracy, good repeatability and low fatigue tendency of the mechanical arm 201, the high-precision microsurgery operation that the hand shake of a traditional doctor easily causes the influence on the operation precision and the operation progress in a high-precision operation area is assisted/partially replaced; the accuracy of the lesion excision by the operation is improved, and the large incision required by the conventional microsurgery for fully exposing the lesion, the excision of lesion-free bone tissue and excessive separation of soft tissue are reduced.
Foretell operation navigation robot system, through setting up control assembly 1 and operating assembly 2, carry out the navigation of performing the operation with the help of control assembly 1, and control operating assembly 2 removes according to the navigation route, the work of the abrasive drilling subassembly of combination installation on arm 201, imitate the staff with the help of arm 201, stability when can improving the abrasive drilling subassembly operation, the realization can reduce the operation degree of difficulty, be applicable to in high accuracy operating area, and the high accuracy microsurgery operation of easy tired back hand shake influence operation precision and operation progress.
In one embodiment, a method of operating a surgical navigational robotic system is also provided, comprising:
the control assembly 1 outputs a control signal to the operation controller 207, the operation controller 207 drives the robot arm assembly 20 to move according to a specified navigation route, and the operation controller 207 drives the drill grinding assembly to work.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the working method of the surgical navigation robot system may refer to the corresponding description in the foregoing embodiment of the surgical navigation robot system, and for convenience and conciseness of description, no further description is provided herein.
The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. The surgical navigation robot system is characterized by comprising a control assembly and an operation assembly, wherein the operation assembly comprises an operation controller, a mechanical arm assembly and a grinding drill assembly, the grinding drill assembly is connected with the mechanical arm assembly, the operation controller is connected with the mechanical arm assembly, and the control assembly is connected with the operation controller.
2. The surgical navigational robotic system of claim 1, wherein the robotic arm assembly includes a robotic arm coupled to the operational controller.
3. The surgical navigational robot system of claim 2, wherein the robotic arm assembly further includes a frame, the operation controller being mounted within the frame, the robotic arm being coupled above the operation controller.
4. The surgical navigational robot system of claim 3, wherein a plurality of first universal casters are coupled to the underside of the frame.
5. The surgical navigation robot system of claim 3, wherein the burr assembly includes a drill bit connected to a distal end of the robotic arm by a connector.
6. The surgical navigation robot system of claim 3, wherein the frame further includes a network interface, and the network interface is connected to the operation controller.
7. The surgical navigational robot system of claim 5, wherein the drill assembly further comprises a sensor coupled to a distal end of the robotic arm, the sensor coupled to the operational controller.
8. The surgical navigation robot system of claim 1, wherein the control assembly includes a navigation unit, a display unit, and a surgical controller, the navigation unit and the display unit are respectively connected with the surgical controller, and the surgical controller is connected with the operation controller.
9. The surgical navigation robot system of claim 8, wherein a support is connected to a lower portion of the surgical controller, and a plurality of second casters are connected to a lower portion of the support.
10. The working method of the surgical navigation robot system is characterized by comprising the following steps:
the control assembly outputs a control signal to the operation controller, the operation controller drives the mechanical arm assembly to move according to a specified navigation route, and the operation controller drives the abrasive drilling assembly to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011156300.0A CN112137726A (en) | 2020-10-26 | 2020-10-26 | Surgical navigation robot system and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011156300.0A CN112137726A (en) | 2020-10-26 | 2020-10-26 | Surgical navigation robot system and working method thereof |
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| CN112137726A true CN112137726A (en) | 2020-12-29 |
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| CN202011156300.0A Pending CN112137726A (en) | 2020-10-26 | 2020-10-26 | Surgical navigation robot system and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114464065A (en) * | 2022-03-10 | 2022-05-10 | 深圳市比邻星精密技术有限公司 | Otoscope virtual and actual combined operation training system and working method thereof |
-
2020
- 2020-10-26 CN CN202011156300.0A patent/CN112137726A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114464065A (en) * | 2022-03-10 | 2022-05-10 | 深圳市比邻星精密技术有限公司 | Otoscope virtual and actual combined operation training system and working method thereof |
| CN114464065B (en) * | 2022-03-10 | 2024-05-03 | 深圳市比邻星精密技术有限公司 | Otoscope virtual-real combined operation training system and working method thereof |
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