CN113876430B

CN113876430B - Spinal surgery robot system for nail placement operation

Info

Publication number: CN113876430B
Application number: CN202110700538.3A
Authority: CN
Inventors: 吕飞舟; 邵明昊; 唐文彬; 宓海; 蔡宁; 姜建元
Original assignee: Shanghai Jirui Medical Technology Co ltd
Current assignee: Shanghai Jirui Medical Technology Co ltd
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2022-11-29
Anticipated expiration: 2041-06-23
Also published as: WO2022267838A1; CN113876430A

Abstract

The invention provides a spinal surgery robot system for nail placing operation, which comprises: the path planning module is used for generating a planning operation path of the nail placing operation, and the planning operation path is distributed along the direction in which the tissue density gradient in the operation bone of the operation object is reduced most quickly; the execution module is used for executing the nail placing operation; and the control module is used for controlling the execution module to execute the nail placing operation according to the planned operation path. The spinal surgery robot system provided by the invention has the advantages that the planned operation paths generated by the path planning module are distributed along the direction in which the tissue density gradient in the operation bone of the operation object is reduced most quickly, so that the execution module is arranged from the cancellous bone with lower density when the nail placing operation is executed, the resistance is small, and the safety of the nail placing operation is ensured.

Description

Spinal surgery robot system for nail placement operation

Technical Field

The invention mainly relates to the field of surgical robots, in particular to a spinal surgical robot system for nail placement operation.

Background

With the progress of the cervical vertebra surgical technology and the continuous deep research on the local anatomy of the cervical vertebra, the posterior cervical vertebra nail placing technology is rapidly developed. The posterior cervical pedicle screw fixation is a revolutionary innovation for treating spinal diseases, the biomechanical stability of the cervical pedicle screw fixation is superior to other various cervical vertebra fixation technologies, even exceeds the stability of the anterior titanium plate and the posterior lateral mass fixation, and the cervical pedicle screw fixation is an ideal fixation method for correcting cervical kyphosis, performing cervical vertebra fixation fusion, treating cervical vertebra fracture dislocation and other cervical diseases.

When performing posterior cervical pedicle screw surgery on a patient, the pedicle screws need to be placed into the posterior cervical vertebrae of the human body. The existing implantation mode is performed by depending on the bare-handed operation of an operator, the mode not only depends on the experience of the operator, but also easily generates deviation in manual operation to cause the pedicle screw to be implanted to deviate from a correct track, thereby reducing the success rate of the operation, and possibly causing irreversible damages such as spinal nerve root injury, vertebral artery injury and the like after the operation error and even endangering the life of a patient. Simultaneously when putting into the screw to way of escape cervical vertebra pedicle of vertebral arch, receive patient's particular case's influence, probably need carry out the screw to a plurality of back cervical vertebra pedicles and put into, and this kind of operation is bigger undoubtedly aggravates the degree of difficulty of operation, tests doctor's technique more.

With the development of medical instrument technology, the application of robot technology in surgery is increasing. At present, in posterior cervical pedicle screw fixation, an operation robot mainly plays roles of medical image modeling, auxiliary positioning and navigation, and the implantation of pedicle screws still needs to be completed by an operation doctor. Because the posterior cervical vertebral pedicle is not only tiny but also is positioned in a narrow space formed by vertebral artery, spinal cord and upper and lower nerve roots, the difficulty and the danger of the implantation of the vertebral pedicle screw are correspondingly increased. Even if the surgeon plans the implantation nail path according to the preoperative image, the problem that the planned nail path deviates from the correct position cannot be solved.

Disclosure of Invention

The invention aims to provide a safe and reliable spinal surgery robot system for nail placing operation.

In order to solve the above technical problem, the present invention provides a spinal surgery robot system for nail placement operation, comprising: the path planning module is used for generating a planning operation path of the nail placing operation, and the planning operation path is distributed along the direction in which the tissue density gradient in the operation bone of the operation object is reduced most quickly; the execution module is used for executing the nail placing operation; and the control module is used for controlling the execution module to execute the nail placing operation according to the planned operation path.

In some embodiments, the path planning module comprises: the modeling unit is used for establishing a three-dimensional model of the operation bone according to the preoperative three-dimensional image of the operation bone; and the path planning unit is used for forming the planning operation path on the three-dimensional model.

In some embodiments, the three-dimensional model includes structural information of the operative skeleton, the structural information including tissue densities at various locations in the operative skeleton, the tissue densities being related to basic information of the surgical object.

In some embodiments, the basic information includes age, sex, height, weight, and medical history.

In some embodiments, each location on the planned operative path has a corresponding preoperative simulated feedback force corresponding to the tissue density.

In some embodiments, the execution module comprises: the nail placing manipulator is arranged at the tail end of the operation execution arm and is used for executing the nail placing operation; and the mechanical sensing device is arranged in the nail placing manipulator and is used for detecting the acting force of the nail placing manipulator from the operation bone of the operation object.

In some embodiments, the control module is further configured to generate a surgical operation path according to the planned operation path and the applied force, each position on the planned operation path has a corresponding preoperative simulated feedback applied force, each position on the surgical operation path has a corresponding applied force, and a first difference between the applied force and the preoperative simulated feedback applied force at each position on the surgical operation path is within a preset threshold range; and the control module controls the execution module to execute the nail placing operation according to the operation path.

In some embodiments, the control module is further configured to adjust the orientation of the staple placing operator at each of the positions, obtain a plurality of forces in a plurality of directions, compare a second difference between the plurality of forces and the preoperative simulated feedback force at the position, and take the direction with the smallest second difference as the operating direction of the staple placing operator.

In some embodiments, further comprising: and the human-computer interaction module is used for generating a simulation acting force according to the acting force, so that an operator receives the simulation acting force and controls the movement of the execution arm through the control module.

In some embodiments, the surgical system further comprises a safety module for monitoring the applied force in real time, and when the applied force exceeds a safety range, the safety module controls the execution arm to stop the surgical operation.

In some embodiments, further comprising: the navigation positioning module is used for obtaining the spatial pose of the operation skeleton and the spatial pose of an execution arm of the spine surgery robot and establishing a spatial mapping relation between the operation skeleton and the execution arm; the control module further comprises: the image registration unit is used for registering the three-dimensional model and the intraoperative two-dimensional image of the operation object to obtain registration image space information; a spatial mapping unit for mapping the registered image spatial information, the spatial pose of the working skeleton and the spatial pose of the execution arm in a unified spatial coordinate; and the path conversion unit is used for converting the planning operation path into the operation path in the unified space coordinate.

The spinal surgery robot system provided by the invention has the advantages that the planned operation paths generated by the path planning module are distributed along the direction in which the tissue density gradient in the operation bone of the surgical object is reduced most quickly, so that the execution module is placed from a spongy bone with lower density when the nail placing operation is executed, the resistance is small, and the safety of the nail placing operation is ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the principle of the invention. In the drawings:

FIG. 1 is a block diagram of a spinal surgical robotic system for staple placement in accordance with an embodiment of the present invention;

FIG. 2 is a block diagram of a path planning module in a spinal surgical robotic system in accordance with an embodiment of the present invention;

FIG. 3 is a block diagram of a modeling unit in a spinal surgical robot in accordance with an embodiment of the present invention;

FIG. 4 is a block diagram of the executive modules in the spinal surgical robot in accordance with one embodiment of the present invention;

FIG. 5 is a diagrammatic view of a spinal surgical robotic system performing a staple placement operation in accordance with an embodiment of the present invention;

FIG. 6 is a block diagram of a spinal surgical robotic system according to another embodiment of the present invention;

FIG. 7 is a block diagram of a control module in a spinal surgical robotic system according to another embodiment of the present invention;

FIG. 8 is a schematic view of a spinal surgical robotic system according to an embodiment of the present invention.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, so that the scope of the present application is not to be construed as being limited. Further, although the terms used in the present application are selected from publicly known and used terms, some of the terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Further, it is required that the present application is understood not only by the actual terms used but also by the meaning of each term lying within.

FIG. 1 is a block diagram of a robotic spinal surgical system for nail placement according to one embodiment of the present invention. Referring to fig. 1, a spine surgical robotic system 100 of this embodiment includes a path planning module 110, an execution module 120, and a control module 130. The path planning module 110 is configured to generate a planned operation path for the nail placing operation, where the planned operation path is distributed along a direction in which a tissue density gradient in a working bone of the surgical object decreases fastest; the execution module 120 is used for executing nail setting operation; the control module 130 is configured to control the execution module 120 to execute the nail placing operation according to the planned operation path.

The invention is not limited to the specific location of the operative bone. Preferably, the operative bone is the posterior cervical spine in a posterior cervical pedicle screw fixation.

The bone structure mainly comprises cortical bone and cancellous bone, wherein the cortical bone is located at the outer part of the bone and has a higher density, while the cancellous bone is located at the middle part of the bone and has a lower density. According to the bone structure characteristics, if the pedicle screws can be accurately placed into cancellous bone of the cervical vertebral plate without penetrating cortical bone below the cervical vertebral plate, the safety of the screw placing operation can be ensured. According to the characteristics of the bone structure, the planned operation path and the operation path of the spinal surgery robot system are distributed along the cancellous bone structure as much as possible, and the encountered resistance is small, so that the safety of the nail placement operation is ensured.

FIG. 2 is a block diagram of a path planning module in a spinal surgical robotic system in accordance with an embodiment of the present invention. Referring to fig. 2, in some embodiments, the path planning module 110 includes a modeling unit 210 and a path planning unit 220. The modeling unit 210 is configured to establish a three-dimensional model of the operation skeleton according to the preoperative three-dimensional image of the operation skeleton; the path planning unit 220 is used for forming a planned operation path on the three-dimensional model.

FIG. 3 is a block diagram of a modeling unit in a spinal surgical robot in accordance with an embodiment of the present invention. A block diagram of specific modules that the modeling unit 210 in the embodiment shown in fig. 2 may include is shown. Referring to fig. 3, in some embodiments, the modeling unit 210 includes an image acquisition unit 211, an image segmentation unit 212, and a three-dimensional reconstruction unit 213. The image acquisition unit 211 is configured to acquire a medical tomographic image of the spine of the surgical object. The present invention is not limited to a specific source of the image, and may include, but is not limited to, CT, MRI, and the like. The image segmentation unit 212 is configured to receive the medical tomographic images, and segment the obtained multiple medical tomographic images to obtain two-dimensional images of different layers of the operative bone of the surgical object. The invention is not limited to the method specifically used for image segmentation. Preferably, the image segmentation is performed using a deep learning algorithm, which may include, but is not limited to, a U-Net network algorithm or the like. The three-dimensional reconstruction unit 213 receives two-dimensional images of different layers of the operation skeleton, and performs three-dimensional reconstruction of the images according to the two-dimensional images to obtain a three-dimensional model of the operation skeleton. The surgeon may select a lesion area on the three-dimensional model and generate a planned operation path through the path planning unit 220.

The path planning unit 220 may provide a display and operation interface for the physician. An image of the operative skeleton may be displayed on the display and operation interface, and the planned operative path may be displayed on the image. The doctor can select the focus area on the three-dimensional model through the display and operation interface, and edit and adjust the displayed planning operation path in a man-machine interaction mode.

It is understood that the planned operation path is automatically formed by the path planning unit 220 according to the lesion area, and may be edited and modified by a doctor. The planned operative path may be different from the operative path actually performed by the spinal surgical robot. The spinal surgical robot performs a stapling operation according to a surgical operation path generated from the planned operation path.

In some embodiments, the three-dimensional model formed by the modeling unit 210 includes structural information of the operative skeleton, the structural information including tissue density at various locations in the operative skeleton, the tissue density being related to basic information of the surgical object.

In some embodiments, the basic information includes age, sex, height, weight, medical history, and the like.

In these embodiments, data is collected for a large number of patients with spinal disorders, including basic information about the patient and the anatomy of the patient's anatomy. Structural information of the operative bone may be acquired from a medical image of the operative bone of each patient. After the three-dimensional reconstruction of the image, important soft tissue information such as bony structures, nerves and ligaments in the operative bone region can be obtained, and the densities of the different structures and tissues are different. The three-dimensional model formed by the modeling unit 210 of the present invention includes structural information including tissue densities at various locations in the operative bone, including densities of non-bony structures in the operative bone, such as soft tissues like ligaments, and bone densities of bony structures.

In some embodiments, artificial intelligence algorithms may be employed to establish relationships between the patient's basic information and tissue density at various locations in the working bone. When the nail placing operation is executed, for a specific operation object, the structural information of the tissue density of each position in the operation bone of the specific operation object can be estimated according to the basic information of the operation object, so that a planning operation path is generated based on the structural information, and the planning operation path is distributed along the direction in which the gradient of the tissue density in the operation bone of the operation object is reduced most rapidly.

According to the above-described embodiment, the direction in which the tissue density gradient in the operative bone decreases the fastest indicates that the planned operative path has traveled toward a location where less dense cancellous bone is located. Thus, when the screw placing operation is performed, the control module 130 guides the execution module 120 to travel according to the planned operation path, so that the screw can be placed at the position of cancellous bone, the resistance met by the screw is small, and the operation safety is high.

FIG. 4 is a block diagram of the execution modules in the spinal surgical robot of an embodiment of the present invention. Referring to FIG. 4, in some embodiments, an execution module 120 in a robotic spinal surgical system of the present invention includes a staple placement operator 121 and a mechanical sensor 122. Wherein, the nail placing manipulator 121 is arranged at the tail end of the operation execution arm and is used for executing nail placing operation; the mechanical sensing device 122 is disposed in the nail placing manipulator and detects a force Fr applied to the nail placing manipulator 121 from the operative bone of the surgical object.

In these embodiments, the control module 130 in the spinal surgical robotic system of the present invention is further configured to generate a surgical operation path according to a planned operation path and a force Fr, each position on the planned operation path has a corresponding preoperative simulated feedback force Fs, each position on the surgical operation path has a corresponding force Fr, and a first difference between the force Fr and the preoperative simulated feedback force Fs at each position on the surgical operation path is within a preset threshold Th; the control module controls the execution module to execute the nail placing operation according to the operation path.

It is understood that, in an ideal case, the control module 130 controls the execution module 120 to execute the nail placing operation according to the planned operation path. However, when a specific operation for nail insertion is performed, it may be necessary to adjust the planned operation path due to bone abnormality or abnormal movement of the operation target. According to the above-mentioned embodiment, during the operation, the nail placing operator 121 can obtain the force Fr from the operation bone in real time through the mechanical sensing device 122, which is the reaction force generated by the nail placing operator 121 acting on the operation bone. Before the operation, the preoperative simulated feedback acting force Fs of each position on the operation bone can be established according to the three-dimensional model of the operation bone obtained by the modeling unit 210. It will be appreciated that during surgery, the staple manipulator 121 is advanced toward the working bone in a direction and at a speed, and that the force Fr and the pre-operative simulated feedback force Fs are related to parameters such as the direction and speed of the staple manipulator 121. That is, the pre-operative simulated feedback forces Fs established at various locations on the working bone according to the present invention correspond to parameters including, but not limited to: the location of the force point, the direction and speed of the staple setting operator 121, etc.

In some embodiments, the mechanical sensing device 122 includes a multi-dimensional torque sensor. The force Fr experienced by the staple placing operator 121 in multiple directions can be obtained from the mechanical sensing device 122. Thus, the force Fr may include a plurality of forces experienced in a plurality of directions. The force Fr is also related to the location of the point of force, the direction and speed of the staple setting operator 121, etc.

When the nail placing operation is performed, the nail placing operator 121 may obtain the acting force Fr in real time, the control module 130 compares the acting force Fr in the direction and the speed of the nail placing operator 121 with the preoperative simulated feedback acting force Fs at the position of the stress point, if | Fr-Fs | ≦ Th, the control module 130 makes the operation path equal to the planned operation path and controls the nail placing operator 121 to advance according to the operation path; if |/Fr-Fs | > Th, the control module 130 adjusts the planned operation path, generates an adjusted planned operation path, and obtains a new acting force Fr _ new, if |/Fr _ new-Fs | > Th, the adjusted planned operation path is used as the operation path, if |/Fr _ new-Fs | > Th, the control module 130 continues to adjust the planned operation path until a first difference between the adjusted acting force and the preoperative simulated feedback acting force Fs is within a preset threshold Th range.

According to an embodiment of the invention, in the operation path, a first difference value between the force Fr at each position in the operation bone and the preoperative simulated feedback force Fs at the position is within a preset threshold value Th.

It is understood that the preset threshold Th is the same physical quantity, with the same dimensions, as the force Fr.

In some embodiments, the control module 130 of the robotic spinal surgical system of the present invention is further configured to adjust the orientation of the pin placement operator 121 at each position, obtain a plurality of forces Fr in a plurality of directions, compare a second difference between the plurality of forces Fr and the preoperative simulated feedback force Fs at the position, and take the direction with the smallest second difference as the operating direction of the pin placement operator.

According to these embodiments, the control module 130 can control the direction of the nail setting operator 121 for a certain position in the working bone, and the nail setting operator 121 can move in multiple directions to obtain multiple acting forces Fr. These second differences between force Fr and the pre-operative simulated feedback force Fs are within a predetermined threshold Th. However, the second difference between the obtained force Fr and the pre-operative simulated feedback force Fs may be different for different directions. For example, the following steps are carried out: at the position A, the acting force obtained in the direction B1 is Fr _ B1, the acting force obtained in the direction B2 is Fr _ B2, and Fr _ B1-Fs < <Fr _ B2-Fs | is less than or equal to Th, which means that the acting force obtained in the direction B1 is closer to Fs, therefore, the direction B1 is selected as the operation direction of the nail setting operator 121 in the operation path, so that smaller resistance can be obtained, that is, the smallest resistance can be obtained in the multiple directions.

In some embodiments, the orientation of the staple operator 121 is varied within a predetermined range of orientations Th _ d while adjusting the orientation of the staple operator. In some embodiments, the preset direction range Th _ d is 5 degrees.

FIG. 5 is a diagrammatic view of a spinal surgical robotic system performing a stapling operation in accordance with an embodiment of the present invention. Referring to fig. 5, the screw operator 510 is provided at the front end thereof with a screw 520, and the front end of the screw 520 is implanted into a working bone 530. Fig. 5 is a schematic bone diagram of the cervical spine, not intended to limit the specific location of the operative bone of the present invention. Referring to fig. 5, it will be appreciated that control module 130 controls the position and orientation of the screw placement operator 510 and thus the placement of the screw into the operative bone 530. A mechanical sensor is provided in the nail setting operator 510. The staple applicator 510 shown in FIG. 5 is an embodiment of the staple applicator 121 shown in FIG. 4, and the foregoing description may be used to describe the staple applicator 510, and the same will not be expanded.

FIG. 6 is a block diagram of a spinal surgical robotic system according to another embodiment of the present invention. Referring to fig. 6, compared to the embodiment shown in fig. 1, the spine surgical robot system 600 of this embodiment includes, in addition to the path planning module 610, the execution module 620 and the control module 630, a navigation positioning module 640 for obtaining the spatial pose of the working skeleton and the spatial pose of the execution arm of the spine surgical robot, and establishing a spatial mapping relationship between the working skeleton and the execution arm.

FIG. 7 is a block diagram of a control module in a spinal surgical robotic system according to another embodiment of the present invention. In these embodiments, the control module 630 further includes an image registration unit 631, a spatial mapping unit 632, and a path conversion unit 633. The image registration unit 631 is configured to register the three-dimensional model with the intraoperative two-dimensional image of the surgical object, so as to obtain registration image space information; the space mapping unit 632 is configured to map the registered image space information, the spatial pose of the working skeleton, and the spatial pose of the executing arm in a unified space coordinate; the path conversion unit 633 is used for converting the planned operation path into a surgical operation path in unified space coordinates.

Referring to FIG. 6, in some embodiments, the spinal surgical robotic system 600 further includes a human-machine interaction module 650 for generating a simulated force based on the force, enabling an operator to receive the simulated force and control movement of the implement arm via the control module.

In some embodiments, human-machine interaction module 650 may be a master-slave hand device, a sensory glove, or the like. According to these embodiments, the operator can directly and manually control the execution arm, directly sense the reaction force of the operation bone, and control the movement of the operation execution arm in real time according to the reaction force.

Referring to fig. 6, in some embodiments, the spinal surgical robotic system 600 further includes a safety module 660 for monitoring the force in real time, and when the force exceeds a safe range, the safety module 660 controls the actuator arm to stop the surgical procedure.

In actual operation, special conditions, such as the operation bone is extremely hard, or the operation object shakes, are met, and the operation needs to be adjusted. In the case of an executing arm automatically executing a surgical operation, the force obtained from the operation skeleton can be used for feeding back the specific stress condition of the operation skeleton. The safety range can be set as desired. When the acting force exceeds the safe range, the safety module 660 sends a signal to the control module 630, and the control module 630 controls the execution module 620, that is, the execution arm stops the operation, so as to further ensure the safety of the operation.

In some embodiments, the spinal surgical robotic system of the present invention may further include a control mode selection unit for selecting an automatic control mode or a manual control mode. In the automatic control mode, the execution arm can execute the surgical operation according to the obtained surgical operation path. In the manual control mode, the operator such as a doctor can control the execution arm to execute the surgical operation according to the surgical operation path. Whether the automatic control or the manual control is adopted, the execution arm drives the surgical manipulator to execute the nail placing operation, so that the surgical efficiency and precision can be improved, and the radiation risk of a doctor in the operation can be reduced.

FIG. 8 is a schematic view of a spinal surgical robotic system according to an embodiment of the present invention. Referring to FIG. 8, a console 810, an executing arm 820, a navigation and positioning device 830, and an intraoperative imaging device 840 are included. The surgical object is set on the operating bed 850. In connection with the embodiments shown in fig. 6 and 7, the path planning module 610, the control module 630, the security module 660, and the human-machine interaction module 650 may all be included in the console 810. The execution module 620 may include an execution arm 820, and a staple setting operator 821 at the end of the execution arm 820. The navigational positioning module 640 may include a navigational positioning device 830, disposed in a surgical environment, for acquiring the spatial pose of the working bone 801 and the effector arm 820 in real time. The intraoperative imaging device 840 is used to acquire intraoperative two-dimensional images of the surgical object and send to the image registration unit 631 for obtaining the registration image spatial information. In some embodiments, the intraoperative imaging device 840 is a C-arm machine or an O-arm machine.

Referring to fig. 8, the console 810 may include a display device and an input device, and the physician may perform operations of selecting a lesion area, editing a planned operation path, and the like on the three-dimensional model of the operation skeleton through the path planning module 610. In some embodiments, console 810 also includes a lever 811, and the surgeon can directly control the movement of the staple manipulator 821 via lever 811. In the embodiment shown in fig. 8, the joystick 811 is a pen-type device that is ergonomically designed for ease of use by a physician. In some embodiments, the control lever 811 may belong to the human-machine interaction module 650, and the force is fed back to the operator through the control lever 811, so that the operator can sense the reaction force from the working bone to which the surgical manipulator is subjected in real time.

According to the spinal surgery robot system, the execution arm can be used for automatically executing nail placing operation, so that the surgery efficiency and the surgery precision are improved, the burden of a doctor is greatly reduced, and the radiation risk of the doctor in the surgery is reduced; in the nail placing operation, the planning operation path generated by the path planning module is distributed along the direction in which the tissue density gradient in the operation bone of the operation object is reduced most quickly, so that the safety of the operation can be ensured; and the acting force of the operation skeleton is obtained in real time in the operation process, and the planning operation path is adjusted in real time, so that the obtained operation path is optimal.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing disclosure is by way of example only, and is not intended to limit the present application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present application and thus fall within the spirit and scope of the exemplary embodiments of the present application.

Also, this application uses specific language to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.

Similarly, it should be noted that in the foregoing description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Where numerals describing the number of components, attributes or the like are used in some embodiments, it is to be understood that such numerals used in the description of the embodiments are modified in some instances by the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.

Claims

1. A robotic spinal surgical system for nail placement procedures, comprising:

the path planning module is used for generating a planning operation path of the nail placing operation, and the planning operation path is distributed along the direction in which the tissue density gradient in the operation bone of the operation object is reduced most quickly;

the execution module is used for executing the nail placing operation; and

and the control module is used for controlling the execution module to execute the nail placing operation according to the planned operation path.

2. The spinal surgical robotic system of claim 1, wherein the path planning module comprises:

the modeling unit is used for establishing a three-dimensional model of the operation skeleton according to the preoperative three-dimensional image of the operation skeleton;

and the path planning unit is used for forming the planning operation path on the three-dimensional model.

3. A spinal surgical robotic system as recited in claim 2, wherein the three-dimensional model includes structural information of the operative bone, the structural information including tissue densities at various locations in the operative bone, the tissue densities being related to basic information of the surgical object.

4. A spinal surgical robotic system as claimed in claim 3, wherein the basic information includes age, gender, height, weight and medical history.

5. A spinal surgical robotic system as recited in claim 2, wherein each location on the planned operative path has a corresponding pre-operative simulated feedback force corresponding to the tissue density.

6. The spinal surgical robotic system of claim 1, wherein the execution module comprises:

the nail placing manipulator is arranged at the tail end of the operation execution arm and is used for executing the nail placing operation; and

and the mechanical sensing device is arranged in the nail placing manipulator and is used for detecting the acting force of the nail placing manipulator from the operation bone of the operation object.

7. The spinal surgical robotic system of claim 6, further comprising: and the human-computer interaction module is used for generating a simulation acting force according to the acting force, so that an operator receives the simulation acting force and controls the movement of the execution arm through the control module.

8. The spinal surgical robotic system of claim 6, further comprising a safety module for monitoring the force in real time, the safety module controlling the actuation arm to stop the staple setting operation when the force exceeds a safe range.

9. The spinal surgical robotic system of claim 2, further comprising:

the navigation positioning module is used for obtaining the spatial pose of the operation skeleton and the spatial pose of an execution arm of the spine surgery robot and establishing a spatial mapping relation between the operation skeleton and the execution arm;

the control module further comprises: the image registration unit is used for registering the three-dimensional model and the intraoperative two-dimensional image of the operation object to obtain registration image space information; a spatial mapping unit for mapping the registered image spatial information, the spatial pose of the working skeleton and the spatial pose of the execution arm in a unified spatial coordinate; and the path conversion unit is used for converting the planning operation path into an operation path in the unified space coordinate.

10. A robotic system for spinal surgery during nail placement, comprising:

the execution module comprises a nail placing manipulator which is arranged at the tail end of the operation execution arm and is used for executing the nail placing operation; and

the control module is used for generating a surgical operation path according to the planned operation path and the acting force of the nail placing manipulator from the operation bone of the surgical object, each position on the planned operation path has a corresponding preoperative simulated feedback acting force, each position on the surgical operation path has a corresponding acting force, a first difference value between the acting force of each position on the surgical operation path and the preoperative simulated feedback acting force is within a preset threshold value range, and the control module is further used for controlling the execution module to execute the nail placing operation according to the surgical operation path.

11. A spinal surgical robotic system as recited in claim 10, wherein the control module is further configured to adjust the orientation of the staple placing operator at each of the positions, obtain a plurality of said forces in a plurality of directions, compare second differences between the plurality of forces and the pre-operative simulated feedback forces at the positions, and select a direction in which the second difference is smallest as the operating direction of the staple placing operator.

12. A spinal surgical robotic system as recited in claim 10, wherein the actuation module further includes a mechanical sensing device disposed in the staple placement operator for detecting forces experienced by the staple placement operator from a working bone of the surgical subject.