CN115227348A

CN115227348A - Implant device and surgical robot

Info

Publication number: CN115227348A
Application number: CN202210853233.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2022-10-25

Abstract

The invention relates to an implantation device and a surgical robot. The implant device comprises: supporting part, drive assembly and first bracket, drive assembly includes: the clutch assembly comprises a first driving part, a second driving part, a clutch assembly and a transmission assembly; the transmission assembly comprises a first input part, a second input part and an output part, and the first input part and the second input part are respectively used for driving the output part to move; the clutch assembly comprises a first clutch and a second clutch, the first clutch connects the output shaft of the first driving part with the first input part in a coaxial transmission manner when in a first engaging position, and the first clutch disconnects the output shaft of the first driving part from the first input part in a transmission manner when in a first disengaging position; the second clutch member is configured to drivingly connect the second drive portion coaxially with the second input portion when in a second engaged position and to disconnect the second drive portion from the second input portion when in a second disengaged position. In the process of implanting the micro-electrode, if the first driving part fails, the micro-electrode can be implanted by using the second driving part.

Description

Implant device and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an implantation device and a surgical robot.

Background

In neurosurgery, deep Brain Stimulation (Deep Brain Stimulation) is one of the highest precision requirements in the current stereotactic surgery, and a microelectrode propeller is required to implant a microelectrode into a target point at a certain depth of the Brain of a patient, so that the microelectrode can accurately stimulate the target point electrically.

When the microelectrode propeller is used for implanting the microelectrode into a target spot of the brain of a patient, the microelectrode is clamped by the bracket, and the driving part drives the transmission component to drive the bracket to move, so that the bracket carries the microelectrode to move, and the microelectrode is implanted into the brain of the patient.

However, in the process of implanting the microelectrode, if a single driving part fails, the microelectrode pusher cannot be implanted continuously, thereby affecting the operation process.

In addition, the existing device for automatically implanting the microelectrode into the target point of the brain of a patient has a fixed driving path, and when the implantation position of the electrode deviates, the function of manually calibrating the puncture point cannot be provided, so that the problem of poor implantation effect is easily caused.

Disclosure of Invention

Therefore, it is necessary to provide an implantation device and a surgical robot to overcome the above-mentioned problems by overcoming the driving disadvantages of a single driving part in the process of implanting a microelectrode by using the conventional microelectrode pusher.

An implant device, the implant device comprising: support portion, setting are in drive assembly and the first bracket that is used for centre gripping implant on the support portion, drive assembly includes: the clutch assembly comprises a first driving part, a second driving part, a clutch assembly and a transmission assembly;

the transmission assembly comprises a first input part, a second input part and an output part connected with the first bracket, and the first input part and the second input part are respectively used for driving the output part to move;

the clutch assembly comprises a first clutch and a second clutch, the first clutch is provided with a first engagement position and a first disengagement position which can be switched mutually, the first clutch connects the output shaft of the first driving part with the first input part in a coaxial transmission mode when in the first engagement position, and the first clutch disconnects the output shaft of the first driving part from the first input part when in the first disengagement position; the second clutch has a second engagement position and a second disengagement position, which are switchable with each other, and in the second engagement position, the second clutch connects the second drive part to the second input part in a coaxial transmission manner, and in the second disengagement position, the second clutch disconnects the second drive part from the second input part in a transmission manner.

In an embodiment, the first clutch is axially movably connected with one of the output shaft of the first drive portion and the first input portion such that the first clutch is switchable between the first engaged position and the first disengaged position; the first clutch member being engaged with the other of the output shaft of the first drive portion and the first input portion when in the first engaged position, the first clutch member being disengaged from the other of the output shaft of the first drive portion and the first input portion when in the first disengaged position;

the second clutch is axially movably connected with one of the second drive portion and the second input portion such that the second clutch is switchable between the second engaged position and the second disengaged position; the second clutch is engaged with the other of the second drive portion and the second input portion when in the second engaged position and the second clutch is disengaged from the other of the second drive portion and the second input portion when in the second disengaged position.

In an embodiment, the clutch assembly further comprises a clutch body in driving connection with the first clutch member and the second clutch member, respectively; the clutch main body can be selectively switched between a first state and a second state, and when the clutch main body is switched to the first state, the clutch main body simultaneously drives the first clutch piece to move to the first engaging position and drives the second clutch piece to move to the second disengaging position; when the clutch main body is switched to the second state, the first clutch piece is driven to move to the first disengaging position and the second clutch piece is driven to move to the second engaging position.

In an embodiment, the clutch body includes a synchronizing clutch having a first angle and a second angle of rotation about an axis perpendicular to an axial direction of the first drive portion and an axial direction of the second drive portion; two ends of the synchronous clutch piece are respectively in transmission connection with the first clutch piece and the second clutch piece and are used for driving the first clutch piece and the second clutch piece to move along opposite directions;

when the synchronous clutch piece rotates to the first angle, the synchronous clutch piece simultaneously drives the first clutch piece to move to the first joint position and the second clutch piece to move to the second separation position; when the synchronous clutch piece rotates to the second angle, the synchronous clutch piece simultaneously drives the first clutch piece to move to the first disengaging position and the second clutch piece to move to the second engaging position.

In one embodiment, a first circumferential ring groove is formed in the outer circumferential side of the first clutch piece in a circumferential surrounding mode, and a second circumferential ring groove is formed in the outer circumferential side of the second clutch piece in a circumferential surrounding mode; one end of the synchronous clutch piece is matched with the first annular groove, and the other end of the synchronous clutch piece is matched with the second annular groove.

In one embodiment, the clutch assembly further comprises a linkage part, and the synchronous clutch piece and the second driving part are respectively in transmission connection with the linkage part;

the second driving part is provided with an operation position and a non-operation position which can be mutually switched along the axial direction; when the second driving part is switched to the operating position, the linkage part links the synchronous clutch piece to be switched to the second angle; when the second driving part is switched to the non-operation position, the linkage part is linked with the synchronous clutch piece to be switched to the first angle.

In one embodiment, a third circumferential groove surrounding along the circumferential direction is formed in the outer circumferential side of the second driving portion, one end of the linkage portion is matched with the third circumferential groove, and the other end of the linkage portion is rotatably connected with the synchronous clutch piece.

In an embodiment, the first clutch member is engaged with the other of the output shaft of the first drive portion and the first input portion when in the first engaged position; the second clutch member is engaged with the other of the second drive portion and the second input portion when in the second engaged position.

In an embodiment, the output part is slidably connected to the support part, and the first driving part, the second driving part, the clutch assembly, the first input part and the second input part are respectively disposed on the output part;

the driving component also comprises a transmission piece which is arranged on the supporting part; the first input part and the second input part are respectively in transmission connection with the transmission part, so that the first input part and the second input part can respectively drive the output part to slide relative to the supporting part.

In an embodiment, the first driving portion, the second driving portion, the clutch assembly and the transmission assembly are respectively disposed on the supporting portion.

In one embodiment, the drive assembly further comprises an intermediate member, the first input portion and the second input portion being respectively engaged with the intermediate member to cause the first input portion, the second input portion and the intermediate member to rotate synchronously such that the intermediate member can drive the output portion to move.

In one embodiment, the implant device further comprises a mounting portion connected to the support portion, the mounting portion being configured to mount to an end of a robotic arm or a stereotactic headframe.

In one embodiment, the mounting portion includes a tower, an upper cannula mount and a lower cannula mount, the upper and lower cannula mounts being fixedly connected to the tower, respectively, the lower cannula mount being located on a side of the upper cannula mount facing away from the first bracket; the puncture needle comprises an upper casing seat, a lower casing seat and a puncture needle body, and is characterized in that the upper casing seat is provided with an upper casing, the lower casing seat is provided with a lower casing, the upper casing is provided with an upper casing hole, the lower casing is provided with a casing hole, and the upper casing hole and the lower casing hole are used for penetrating the puncture needle body.

In an embodiment, the upper sleeve is provided with a plurality of upper sleeve holes arranged in an array, the lower sleeve is provided with a plurality of lower sleeve holes arranged in an array, and the upper sleeve holes correspond to the lower sleeve holes in a one-to-one correspondence.

In one embodiment, the implantation device further comprises an elongated electrode holder and a second bracket for clamping the microelectrode, one end of the elongated electrode holder is connected with the output part, the second bracket is arranged at the other end of the elongated electrode holder, and the second bracket is positioned on one side of the first bracket, which is far away from the tail end of the microelectrode.

In one embodiment, the output shaft of the first driving part is parallel to the axial direction of the second driving part and is arranged at an interval; the first input part and the second input part are axially parallel and are arranged at intervals; the first driving portion and the second driving portion are located on the same side of the first input portion as the second input portion.

A surgical robot, comprising:

an operating trolley;

a robotic arm disposed on the surgical trolley;

the implant device of any of the above embodiments, the implant device attached to a distal end of the robotic arm;

a navigation trolley; and

and the optical navigation system is arranged on the navigation trolley and used for guiding the mechanical arm to move to a surgery planning position according to a surgery planning path.

In one embodiment, the surgical robot further comprises an adapter, one end of the adapter is connected to the tail end of the mechanical arm, and the other end of the adapter is provided with a buckle quick-release structure and is connected with the implantation device through the buckle quick-release structure.

Above-mentioned implantation device, surgical robot, when implantation device was used for implanting the target point of patient's brain with the microelectrode, can switch over the second clutch to the second and break away from the position and switch over first clutch to first joint position earlier to can be through the drive of first drive division, make output portion carry first bracket and microelectrode and remove jointly, with implanting patient's brain with the microelectrode. In the process of implanting the microelectrode, the first clutch piece and the second clutch piece can be switched independently according to the real-time condition of the microelectrode implantation process, the first clutch piece is switched to the first joint position or the second clutch piece is switched to the second joint position, the implant is implanted into the target spot accurately, and the operation freedom degree and the accuracy of the operation of a doctor are improved.

Drawings

FIG. 1 is a schematic view of an embodiment of an implant device;

FIG. 2 is a schematic diagram illustrating a connection relationship between the first driving part, the second driving part, the clutch assembly and the transmission assembly when the clutch body is in the first state according to an embodiment;

FIG. 3 is a schematic diagram showing a connection relationship between the first driving part, the second driving part, the clutch assembly and the transmission assembly when the clutch body of FIG. 2 is in a second state;

FIG. 4 is a schematic view of another embodiment of an implant device;

FIG. 5 is a schematic view of the clutch body of the implant device shown in FIG. 4 in a first state, showing the connection of the first driving part, the second driving part, the clutch assembly and the transmission assembly;

FIG. 6 is a schematic view of an embodiment of an implant device mounted to a stereotactic headframe;

FIG. 7 is a schematic view of the implant device of FIG. 1 in connection with the adaptor and the tool target;

FIG. 8 is a schematic structural view of the mounting portion of FIG. 1;

FIG. 9 is a schematic structural view of an upper bushing according to another embodiment;

FIG. 10 is a schematic view of another embodiment of a casing;

FIG. 11 is a schematic view of the adapter of FIG. 7

FIG. 12 is a schematic view showing the connection between microelectrodes and optical mark structures according to an embodiment.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the 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 to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified 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 fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. 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 expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Referring to fig. 1, an implant device 10 is provided according to an embodiment of the present application. The implant device 10 includes: a support portion 100, a driving assembly and a first bracket 300.

Referring again to fig. 2 and 3, the driving assembly is disposed on the support 100. The drive assembly includes: a first driving part 210, a second driving part 220, a clutch assembly 230 and a transmission assembly. The transmission assembly includes a first input 241, a second input 242, and an output 243. The first input portion 241 and the second input portion 242 are respectively used for driving the output portion 243 to move. The output unit 243 is connected to the first bracket 300. The first carrier 300 is used to hold an implant.

The clutch assembly 230 includes a first clutch 231 and a second clutch 232. The first clutch 231 has a first engaged position and a first disengaged position that are switchable with each other. When the first clutch 231 is at the first engaging position, the output shaft of the first driving portion 210 is coaxially connected to the first input portion 241 in a transmission manner, and the first driving portion 210 can drive the first input portion 241 to coaxially rotate through the first clutch 231, so that the first input portion 241 drives the output portion 243 to move, and the output portion 243 carries the first carrier 300 and the implant to move together. When the first clutch 231 disconnects the output shaft of the first driving unit 210 from the first input unit 241 in the first disengaged position, the first driving unit 210 loses control of the rotation of the first input unit 241.

The second clutch 232 has a second engaged position and a second disengaged position that are shiftable with respect to each other. When the second clutch 232 is at the second engagement position, the second driving portion 220 is coaxially connected to the second input portion 242 in a transmission manner, so that the second driving portion 220 can drive the second input portion 242 to coaxially rotate through the second clutch 232, and the second input portion 242 drives the output portion 243 to move, so that the output portion 243 carries the first carrier 300 and the implant to move together. When the second clutch 232 is at the second disengaged position, the second driving portion 220 is disconnected from the second input portion 242, and the second driving portion 220 loses control over the rotation of the second input portion 242.

In this embodiment, the implant is a microelectrode and the first carrier 300 is used to hold the microelectrode. The implant device 10 is used to implant a microelectrode into a target site in the brain of a patient, i.e. the implant device 10 can be understood as a microelectrode pusher.

When the implantation device 10 is used for implanting the microelectrode into a target point of a brain of a patient, the second clutch 232 may be switched to the second disengaged position and the first clutch 231 may be switched to the first engaged position, so that the output portion 243 carrying the first bracket 300 and the microelectrode moves together by driving of the first driving portion 210, and the microelectrode is implanted into the brain of the patient. In the process of implanting the microelectrode, if the first driving part 210 fails, the second clutch 232 can be switched to the second engaging position and the first clutch 231 can be switched to the first disengaging position, so that the output part 243 carrying the first bracket 300 and the microelectrode can move together by the driving of the second driving part 220, the microelectrode can be implanted into a target spot of the brain of a patient, and the surgical process can be smooth. Moreover, in the process of implanting the microelectrode, the first clutch 231 and the second clutch 232 can be switched autonomously according to the real-time condition of the microelectrode implantation process, the first clutch 231 is switched to the first engaging position or the second clutch 232 is switched to the second engaging position, so that the implant can be accurately implanted into a target spot, and the operation freedom degree and accuracy of the operation of a doctor are improved.

It should be understood that the implant is not limited to being a microelectrode, but may be other therapeutic devices for implantation in a patient. The implant device 10 is also not limited to implanting an implant into the brain of a patient, but may be used to implant implants into other locations of a patient. This is not limiting.

In one embodiment, the second driving portion 220 is a manual operation portion. When the implant device 10 is used to implant an implant at a target site in a patient, the second clutch 232 can be first switched to the second, disengaged position and the first clutch 231 can be switched to the first, engaged position, and the implant cannot be manually implanted, but can be automatically implanted, i.e., the implant device 10 is in the automatic mode. Accordingly, the driving stroke of the first driving part 210 can be set, so that the implant can be rapidly and accurately implanted at or near a target point in the patient's body by the driving of the first driving part 210. At this time, if the implant is implanted with a deviation from the target point, i.e., in the vicinity of the target point, the second clutch 232 may be switched to the second engagement position and the first clutch 231 may be switched to the first disengagement position, and the implant may not be automatically implanted, but the implant may be manually implanted, i.e., the implant device 10 may be in the manual mode, so that the surgeon may determine the deviation degree of the implant position from the target point by experience and finely adjust the second driving part 220 to finely adjust the implant depth of the implant, thereby accurately reaching the target point. It can be seen that the implant device 10 is fast and accurate when used to implant an implant at a target site in a patient.

The second driving portion 220 may be a knob structure, which facilitates manual operation. The first driving part 210 may be a motor.

Referring to fig. 2 and fig. 3, in an embodiment, an axial direction of the first driving portion 210 is parallel to an axial direction of the second driving portion 220, and the two driving portions are disposed at an interval. The first input portion 241 has an axial direction parallel to an axial direction of the second input portion 242, and the two are spaced apart from each other. The first driving part 210 and the second driving part 220 are located on the same side of the first input part 241 and the second input part 242. In this way, the structural arrangement is reasonable, the first input part 241 and the second input part 242 can transmit power to the output part 243 in the same mode, and the transmission mode is simple.

Referring to fig. 2 and 3, in one embodiment, the first clutch 231 is movably connected to one of the output shaft of the first driving portion 210 and the first input portion 241 in the axial direction, so that the first clutch 231 can be switched between the first engagement position and the first disengagement position. The first clutch 231 is engaged with the other of the output shaft of the first driving part 210 and the first input part 241 when in the first engaged position, and the first clutch 231 is disengaged from the other when in the first disengaged position. In this way, the first clutch member 231 only needs to be moved in the axial direction of the one, that is, the first clutch member 231 can be moved toward or away from the other one, so that the first clutch member 231 is engaged with or disengaged from the other one, and the output shaft of the first driving part 210 is in coaxial transmission connection with or disconnected from the first input part 241.

The second clutch 232 is movably connected with one of the second driving portion 220 and the second input portion 242 such that the second clutch 232 can be switched between a second engaged position and a second disengaged position. The second clutch 232 is engaged with the other of the second drive portion 220 and the second input portion 242 when in the second engaged position and the second clutch 232 is disengaged from the other of the second drive portion and the second input portion 242 when in the second disengaged position. In this way, it is only necessary to move the second clutch member 232 in the axial direction of the one, i.e., to move the second clutch member 232 closer to or away from the other, so that the second clutch member 232 is engaged with or disengaged from the other, thereby making the second driving part 220 coaxially drivingly connected with or disconnected from the second input part 242.

It should be noted that the first clutch member 231 is movably connected to one of the output shaft of the first driving portion 210 and the first input portion 241 in the axial direction, but is not capable of rotating relatively, so that when the first clutch member 231 is engaged with the other of the output shaft of the first driving portion 210 and the first input portion 241, the output shaft of the first driving portion 210 can be coaxially connected to the first input portion 241. For example, the first clutch member 231 is fitted over and keyed to one of the output shaft of the first driving portion 210 and the first input portion 241.

Similarly, the second clutch 232 is axially movably coupled to one of the second driving portion 220 and the second input portion 242 but is not rotatable relative thereto, such that engagement of the second clutch 232 with the other of the second driving portion 220 and the second input portion 242 results in coaxial driving coupling of the second driving portion 220 with the second input portion 242. For example, the second clutch 232 is sleeved on and connected with one of the second clutch 232, the second driving portion 220 and the second input portion 242.

In other embodiments, the first clutch member may be located between the output shaft of the first driving portion and the first input portion when in the first engaging position, for example, one axial end of the first clutch member may be magnetically connected to the output shaft of the first driving portion, and the other axial end of the first clutch member may be magnetically connected to the first input portion. The first clutch member is moved out from between the output shaft of the first driving portion and the first input portion in the first disengaged position, i.e., disengaged from both the output shaft of the first driving portion and the first input portion. Similarly, the second clutch member is located between the second driving portion and the second input portion in the second engagement position, for example, one axial end of the second clutch member is connected to the second driving portion by magnetic attraction, and the other axial end of the second clutch member is connected to the second input portion by magnetic attraction. The second clutch member is moved out of the position between the second drive and the second input in the second disengaged position, i.e., disengaged from both the second drive and the second input.

Referring to fig. 2 and 3 in combination, in one embodiment, the first clutch 231 is engaged with the first input portion 241 in a first engaged position and disengaged from the first input portion 241 in a first disengaged position. The first clutch 231 is movably connected to the output shaft of the first driving portion 210 along the axial direction, so that when the first clutch 231 moves relative to the output shaft of the first driving portion 210, it can move toward or away from the first input portion 241, and the first clutch 231 is engaged with or disengaged from the first input portion 241, i.e. it can be switched between the first engaging position and the first disengaging position.

In another embodiment, the first clutch member may be engaged with the output shaft of the first driving portion in the first engaging position, and disengaged from the output shaft of the first driving portion in the first disengaging position, and the first clutch member may be movably connected to the first input portion in the axial direction, so that the first clutch member can move toward or away from the output shaft of the first driving portion when moving relative to the first input portion, and the first clutch member may be engaged with or disengaged from the output shaft of the first driving portion, i.e., the first clutch member can be switched between the first engaging position and the first disengaging position.

Referring to fig. 2 and 3 in combination, in one embodiment, the second clutch 232 is engaged with the second input 242 in a second engaged position and disengaged from the second input 242 in a second disengaged position. The second clutch 232 is axially movably coupled to the second driving portion 220 such that movement of the second clutch 232 relative to the second driving portion 220 moves the second clutch 232 toward or away from the second input portion 242, and the second clutch 232 engages or disengages the second input portion 242, i.e., can be shifted between a second engaged position and a second disengaged position.

In another embodiment, the second clutch member may be engaged with the second driving portion in the second engagement position and disengaged from the second driving portion in the second disengagement position, and the second clutch member may be movably connected to the second input portion in the axial direction, so that the second clutch member can move toward or away from the second driving portion when moving relative to the second input portion, and the second clutch member may be engaged with or disengaged from the second driving portion, i.e., the second clutch member can be switched between the second engagement position and the second disengagement position.

Referring to fig. 2 and 3, in one embodiment, the first clutch 231 is engaged with the other of the output shaft of the first driving portion 210 and the first input portion 241 when in the first engaging position. The second clutch member 232 is engageable with the other of the second drive portion 220 and the second input portion 242 in a manner to engage when in the second engaged position.

In other embodiments, when the first clutch member is in the first engagement position, the engagement with the other of the output shaft of the first driving portion and the first input portion may be magnetically connected. The second clutch member may be coupled to the other of the second drive portion and the second input portion in a magnetically attractive manner when in the second engagement position.

Referring to fig. 2 and 3, in an embodiment, the clutch assembly further includes a clutch main body 233. The clutch body 233 is selectively switchable between a first state and a second state. The clutch body 233 is in transmission connection with the first clutch member 231 and the second clutch member 232, respectively, so that when the clutch body 233 is switched between the first state and the second state, the first clutch member 231 and the second clutch member 232 can be driven to move.

When the clutch body 233 is switched to the first state, the first clutch member 231 is driven to move to the first engagement position and the second clutch member 232 is driven to move to the second disengagement position, so that the implant device 10 can be driven by the first driving portion 210 to implant an implant. When the clutch body 233 is switched to the second state, the first clutch 231 is driven to move to the first disengaged position and the second clutch 232 is driven to move to the second engaged position, so that the implant can be driven by the second driving portion 220. It can be seen that by the clutch body 233 being switched between the first and second states, the implant device 10 is facilitated to switch between the driving of the first and

second drive portions

210, 220.

In other embodiments, the clutch body may not be provided, and the position of the first clutch member and the position of the second clutch member may be switched independently of each other, or the implant device may be switched between the driving of the first driving portion 210 and the driving of the second driving portion 220.

In one embodiment, the axial direction of the first driving portion 210 is parallel to the axial direction of the second driving portion 220, and the two driving portions are spaced apart from each other. The first input portion 241 has an axial direction parallel to an axial direction of the second input portion 242, and the two are spaced apart from each other. The first driving part 210 and the second driving part 220 are located on the same side of the first input part 241 and the second input part 242. In this way, the clutch body 233 may be disposed between the first driving portion 210 and the second driving portion 220, and between the first input portion 241 and the second input portion 242, so as to facilitate the transmission connection between the clutch body 233 and the first clutch 231 and the second clutch 232, respectively, and further facilitate the clutch body 233 to drive the first clutch 231 and the second clutch 232 to move, so that the implantation device 10 is switched between the driving of the first driving portion 210 and the second driving portion 220.

Referring to fig. 2 and 3, in one embodiment, the clutch body 233 includes a synchronizing clutch 2332, and the synchronizing clutch 2332 has a first angle and a second angle of rotation about an axis perpendicular to the axial direction of the first driving part 210 and the axial direction of the second driving part 220. Synchronizing clutch 2332 is drivingly connected at its ends to first clutch 231 and second clutch 232, respectively. Synchronizing clutch 2332 is used to move first clutch 231 and second clutch 232 in opposite directions.

When the synchronizer 2332 rotates to the first angle, the synchronizer 2332 simultaneously drives the first clutch 231 to move to the first engaging position and the second clutch 232 to move to the second disengaging position, i.e. the clutch body 233 is in the first state. When the synchronizing clutch 2332 rotates to the second angle, the synchronizing clutch 2332 simultaneously moves the second clutch 232 to the second engaging position and the first clutch 231 to the first disengaging position, i.e. the clutch body 233 is in the second state. In this manner, only rotation of synchronization clutch 2332 is required to switch clutch body 233 between the first and second states, facilitating switching of implant device 10 between driving of first drive portion 210 and second drive portion 220.

In this embodiment in particular, the first clutch 231 is engaged with the first input 241 in a first engaged position and disengaged from the first input 241 in a first disengaged position; the second clutch 232 is engaged with the second input 242 in the second engaged position and disengaged from the second input 242 in the second disengaged position.

When the synchronizing clutch 2332 rotates to the first angle, the synchronizing clutch 2332 simultaneously drives the first clutch 231 to move toward the first input portion 241 and the second clutch 232 to move away from the second input portion 242, i.e., the synchronizing clutch 2332 simultaneously drives the first clutch 231 and the second clutch 232 to move in opposite directions, so that the synchronizing clutch 2332 drives the first clutch 231 to move to the first engaging position and the second clutch 232 to move to the second disengaging position, i.e., the clutch body 233 is in the first state. When the synchronizing clutch 2332 rotates to the second angle, the synchronizing clutch 2332 simultaneously drives the second clutch 232 to move toward the direction close to the second input portion 242, and drives the first clutch 231 to move toward the direction away from the first input portion 241, i.e., the synchronizing clutch 2332 simultaneously drives the second clutch 232 and the first clutch 231 to move in opposite directions, so that the synchronizing clutch 2332 can drive the second clutch 232 to move to the second engagement position and the first clutch 231 to move to the first disengagement position, i.e., the clutch body 233 is in the second state.

In other embodiments, the first clutch member may be engaged with the output shaft of the first driving portion in the first engagement position and disengaged from the output shaft of the first driving portion in the first disengagement position; the second clutch is engaged with the second drive portion in a second engaged position and disengaged from the second drive portion in a second disengaged position. When the synchronous clutch piece rotates to the first angle, the synchronous clutch piece simultaneously drives the first clutch piece to move towards the direction of the output shaft close to the first driving part, the second clutch piece is driven to move towards the direction far away from the second driving part, namely, the synchronous clutch piece simultaneously drives the first clutch piece and the second clutch piece to move along opposite directions, thereby enabling the synchronous clutch piece to drive the first clutch piece to move to the first engaging position and drive the second clutch piece to move to the second disengaging position, namely, the clutch body is in the first state. When the synchronous clutch piece rotates to the second angle, the synchronous clutch piece simultaneously drives the second clutch piece to move towards the direction close to the second driving part, the first clutch piece moves towards the direction far away from the output shaft of the first driving part, namely, the synchronous clutch piece simultaneously drives the second clutch piece and the first clutch piece to move along opposite directions, thereby enabling the synchronous clutch piece to drive the second clutch piece to move to the second joint position and drive the first clutch piece to move to the first separation position, namely, the clutch main body is in the second state.

In other embodiments, the clutch body may have other structures, and is not limited thereto. For example, the first clutch member is axially movably connected with the output shaft of the first drive portion. The first clutch is engaged with the first input in a first engaged position and disengaged from the first input in a first disengaged position. The second clutch is axially movably connected with the second input portion, and the second clutch is engaged with the second driving portion in a second engagement position and disengaged from the second driving portion in a second disengagement position. In this case, the clutch body may comprise a translation member. One end of the translation piece is connected with the first clutch piece, and the other end of the translation piece is connected with the second clutch piece. The translation piece can reciprocate along a straight line direction parallel to the axial direction of the first driving part and the axial direction of the second driving part. The translation piece is used for driving the first clutch piece and the second clutch piece to move along the same direction. When the translation piece translates along the positive direction of the straight line direction, the translation piece drives the first clutch piece to move close to the first input part, and then the translation piece simultaneously drives the second clutch piece to move away from the second driving part, namely, the translation piece drives the first clutch piece to move to the first joint position and simultaneously drives the second clutch piece to move to the second separation position. When the translation piece translates along the opposite direction of the linear direction, the first clutch piece is driven to move away from the first input part, and the second clutch piece is simultaneously driven to move close to the second driving part, namely, the first clutch piece is driven to move to a first separation position, and the second clutch piece is driven to move to a second engagement position.

Referring to fig. 2 and 3, in an embodiment, a first circumferential groove 2311 is formed on an outer circumferential side of the first clutch member 231, and a second circumferential groove 2321 is formed on an outer circumferential side of the second clutch member 232. One end of the synchronization clutch 2332 is engaged with the first annular groove 2311, and the other end is engaged with the second annular groove 2321, so that when the synchronization clutch 2332 rotates around an axis, one end of the synchronization clutch 2332 stirs the groove wall of the first annular groove 2311, and the other end stirs the groove wall of the second annular groove 2321, so that the first clutch 231 and the second clutch 232 move in opposite directions, and the clutch body 233 is switched between the first state and the second state.

Since one end of the synchronizing clutch 2332 is engaged with the first groove 2311, the first groove 2311 rotates synchronously when the first driving part 210 drives the first clutch 231 to rotate, and one end of the synchronizing clutch 2332 can be held stationary in the first groove 2311, so that the synchronizing clutch 2332 does not affect the rotation of the first clutch 231 and thus the first input part 241. Similarly, since the other end of synchronization clutch 2332 is engaged with second annular groove 2321, second annular groove 2321 rotates synchronously when second driving portion 220 rotates second clutch 232, and one end of synchronization clutch 2332 can be held stationary in second annular groove 2321, so that synchronization clutch 2332 does not affect the rotation of second clutch 232 and thus the rotation of second input 242.

In other embodiments, the first clutch member may not be provided with the first ring groove, and the second clutch member may not be provided with the second ring groove. For example, the clutch body includes a first collar and a first link. The first sleeve ring is sleeved on the first clutch piece in a mode of relatively rotating and not axially moving. The two ends of the first connecting rod are respectively connected with the first clutch piece and one end of the synchronous clutch piece in a rotating mode, so that the synchronous clutch piece and the first connecting rod form a crank-link mechanism, the first sleeve ring can be driven to move axially, the first clutch piece can be driven to move axially, and the first sleeve ring does not influence the rotation of the first clutch piece. Likewise, the clutch body may include a second collar and a second link. The second sleeve ring is sleeved on the second clutch piece in a mode of relative rotation and axial movement. The two ends of the second connecting rod are respectively connected with the second clutch piece and one end of the synchronous clutch piece in a rotating mode, so that the synchronous clutch piece and the second connecting rod form a crank connecting rod mechanism, the second sleeve ring can be driven to move axially, the second clutch piece can be driven to move axially, and the second sleeve ring does not influence the rotation of the second clutch piece.

Referring to fig. 2 and 3, in an embodiment, the clutch assembly further includes a linkage portion 244, and the synchronizing clutch 2332 and the second driving portion 220 are respectively in transmission connection with the linkage portion 244. The second driving portion 220 has an operating position and a non-operating position that can be switched with each other in the axial direction. When the second driving part 220 is switched to the operation position, the synchronizing clutch 2332 is moved by the linkage part 244 to be linked to the synchronizing clutch 2332 to be switched to the second angle, so that the implant can be implanted by the driving of the second driving part 220. When the second driving part 220 is switched to the non-operation position, the synchronizing clutch 2332 is moved by the linkage part 244 to be linked such that the synchronizing clutch 2332 is switched to the first angle, so that the implant can be implanted by the driving of the first driving part 210. Thus, the second driving portion 220 can be switched to a position to switch the synchronizing clutch 2332 between the first angle and the second angle, which is convenient for operation.

Referring to fig. 2 and 3, in an embodiment, a third circumferential groove 2221 is circumferentially formed on an outer circumferential side of the second driving portion 220, one end of the linking portion 244 is engaged with the third circumferential groove 2221, and the other end is rotatably connected to the synchronizer clutch 2332.

When the second driving portion 220 is switched between the operating position and the non-operating position along the axial direction, the groove wall of the third groove 2221 pushes one end of the linking portion 244 to move, so that the other end of the linking portion 244 drives the synchronization clutch 2332 to rotate, and further the synchronization clutch 2332 is switched between the first angle and the second angle.

Since one end of the linking part 244 is engaged with the third annular groove 2221, the third annular groove 2221 is rotated synchronously when the second driving part 220 rotates, and one end of the linking part 244 can be kept stationary in the third annular groove 2221, thereby not affecting the rotation of the second driving part 220.

In other embodiments, the second driving portion may not have the third ring groove. For example, a transmission sleeve ring is sleeved on the second driving portion, and the transmission sleeve ring is matched with the second driving portion in a manner of relative rotation but axial movement. One end of the linkage part is rotationally connected with the transmission lantern ring, and the other end of the linkage part is rotationally connected with the synchronous clutch piece. Then the second drive division is along the axial when operation position and the switching of non-operation position, and the transmission lantern ring moves with the second drive division synchronization to also can drive synchronous clutch piece through linkage portion and rotate, and then make the pivot switch between first angle and second angle. Furthermore, the drive collar does not affect the rotation of the second drive portion.

Referring to fig. 1, in an embodiment, the output portion 243 is slidably connected to the supporting portion 100, and the first driving portion 210, the second driving portion 220, the clutch assembly 230, the first input portion 241, and the second input portion 242 are respectively disposed on the output portion 243. Specifically, the first input portion 241, the second input portion 242, and the second driving portion 220 are respectively rotatably connected to the output portion 243. The housing of the first driving unit 210 is fixed to the output unit 243.

The transmission assembly further includes a transmission member 245, and the transmission member 245 is disposed on the supporting portion 100. The first input portion 241 and the second input portion 242 are respectively connected to the transmission member 245 in a transmission manner, so that the first input portion 241 and the second input portion 242 can respectively drive the output portion 243 to slide relative to the supporting portion 100. When the first input portion 241 and the second input portion 242 rotate, the first input portion 241 and the second input portion 242 move through the transmission of the transmission member 245, so as to drive the output portion 243 to slide relative to the supporting portion 100.

Referring to fig. 2 and 3, in an embodiment, the transmission member 245 is a rack, and the first input portion 241 and the second input portion 242 are gears, respectively. When the first input portion 241 and the second input portion 242 rotate, they move along the length direction of the rack, so as to drive the output portion 243 to slide relative to the support portion 100.

In other embodiments, the transmission member may be a screw. The first input part and the second input part are respectively nuts and are respectively matched with the screw rod in a threaded manner. When the first input part and the second input part rotate, the first input part and the second input part move along the length direction of the screw rod, so that the output part is driven to slide relative to the supporting part.

In one embodiment, the second drive part 220 is connected to the output part 243 in an axially adjustable manner, so that it can be switched between an operating position and a non-operating position in the axial direction.

Referring to fig. 2 and 3, in an embodiment, the clutch body 233 further includes a rotating shaft 2331. Synchronizing clutch 2332 is coupled to shaft 2331. Synchronizing clutch 2332 rotates about the axis of shaft 2331 when switched between a first angle and a second angle.

In one embodiment, synchronizing clutch 2332 is rotatably coupled to output 243 via shaft 2331 to be switchable between a first angle and a second angle about an axis.

Specifically, synchronizing clutch 2332 may be fixedly coupled to shaft 2331 and shaft 2331 rotatably coupled to output portion 243 such that synchronizing clutch 2332 is rotatably coupled to output portion 243 via shaft 2331. Alternatively, the shaft 2331 may be fixedly connected to the output unit 243, and the synchronizing clutch 2332 may be rotatably connected to the shaft 2331, so that the synchronizing clutch 2332 may be rotatably connected to the output unit 243 via the shaft 2331.

Referring to fig. 2 and 3, the transmission assembly further includes an intermediate member 246, and the first input portion 241 and the second input portion 242 are respectively engaged with the intermediate member 246, so that the first input portion 241, the second input portion 242 and the intermediate member 246 rotate synchronously, and the intermediate member 246 can drive the output portion 243 to move.

In the present embodiment, the transmission member 245 is a rack, and the first input portion 241 and the second input portion 242 are gears, respectively. The intermediate member 246 is a gear and is located between the first input portion 241 and the second input portion 242, so that when any one of the first input portion 241 and the second input portion 242 rotates, the first input portion 241, the second input portion 242 and the intermediate member 246 rotate synchronously, and further the first input portion 241 and the second input portion 242 can transmit the transmission to the output portion 243 at the same time, which is beneficial to the smooth motion process of the output portion 243.

Referring to fig. 4 and 5, in another embodiment, the first driving portion 210, the second driving portion 220, the clutch assembly 230 and the transmission assembly may also be disposed on the supporting portion 100 respectively. Specifically, the first input portion 241, the second input portion 242, and the second driving portion 220 are respectively rotatably connected to the support portion 100. The housing of the first driving part 210 is fixed to the supporting part 100. The transmission of the first input portion 241 and the second input portion 242 to the output portion 243 may be a screw transmission, a gear rack transmission, or the like, as long as the output portion 243 can be driven to move.

In the embodiment shown in fig. 4 and 5, the transmission assembly further comprises an intermediate member 246, and the first input portion 241 and the second input portion 242 are respectively engaged with the intermediate member 246 so that the first input portion 241, the second input portion 242 and the intermediate member 246 rotate synchronously, so that the intermediate member 246 can drive the output portion 243 to move. In this embodiment, a screw rod 248 is coaxially connected to the intermediate member 246, and the screw rod 248 is in threaded engagement with the output portion 243, so that the screw rod 248 is driven by the intermediate member 246 to rotate synchronously, and the output portion 243 can be driven to move. The first input part 241, the second input part 242 and the intermediate part 246 are synchronously rotated by the intermediate part 246, which is beneficial to the smooth motion process of the output part 243. Furthermore, the transmission of the output part 243 via the connecting screw 248 on the intermediate member 246 requires only one screw 248, and does not require connecting screws for the first input part 241 and the second input part 242.

In the embodiment shown in fig. 4, the second drive part 220 is connected in an axially adjustable position to the support part 100, so that it can be switched in the axial direction between an operating position and a non-operating position.

In one embodiment, synchronizing clutch 2332 is rotatably coupled to support 100 via shaft 2331 to be switchable between a first angle and a second angle about an axis.

Specifically, the synchronizing clutch 2332 may be fixedly coupled to the rotation shaft 2331, and the rotation shaft 2331 may be rotatably coupled to the support portion 100, so that the synchronizing clutch 2332 may be rotatably coupled to the support portion 100 through the rotation shaft 2331. Alternatively, the rotation shaft 2331 may be fixedly coupled to the support portion 100, and the synchronization clutch 2332 may be rotatably coupled to the rotation shaft 2331, so that the synchronization clutch 2332 may be rotatably coupled to the support portion 100 via the rotation shaft 2331.

Referring to fig. 1, in one embodiment, the implant device 10 further includes a fastener 247. The fixing member 247 is used to lock or release the output part 243 to or from the supporting part 100.

When the implant is to be implanted into the patient, the output part 243 is released from the support part 100 by the fixing member 247, and the output part 243 can move relative to the support part 100 while carrying the implant. When the implant is implanted to a target point in the patient, the output portion 243 and the supporting portion 100 can be locked by the fixing member 247, so as to fix the position of the implant.

In one embodiment, the fixing member 247 may be a locking bolt which is threadedly coupled to the output portion 243 and can pass through the output portion 243. The output portion 243 and the support portion 100 can be locked by screwing the fixing member 247 so that the fixing member 247 passes through one end of the output portion 243 to abut against the support portion 100. The fixing member 247 is screwed reversely, so that the output portion 243 is released from the supporting portion 100.

Referring to fig. 1, in one embodiment, the implant device 10 further includes a mounting portion 400, and the mounting portion 400 is connected to the supporting portion 100. The mount 400 is for mounting to the end of a robotic arm or stereotactic headstock.

The implant device 10 is mounted at the end of a robotic arm through the mounting portion 400, and the robotic arm can move the implant device 10 to the vicinity of the brain of the patient according to the surgical planned path and automatically control the implant device 10 to implant the micro-electrodes. If the operation of automatic implantation is completed, the implantation position of the microelectrode still deviates from the target point, and the implantation device 10 can be in a manual mode, so that a doctor can judge the deviation degree of the implantation position of the microelectrode from the target point by experience, and finely adjust the implantation depth of the microelectrode by adjusting the second driving part 220, thereby enabling the microelectrode to accurately reach the target point.

Alternatively, referring to FIG. 6, the implant device 10 may be mounted to stereotactic headframe 2 via mounting portion 400, allowing microelectrode implantation only in a manual mode.

By providing a mount 400, the mount 400 is configured to mount to the end of a robotic arm or stereotactic headgear 2, making the application scenario for the implant device 10 more flexible.

The mounting portion 400 and the supporting portion 100 may be formed separately and then fixedly connected, or may be formed integrally.

The mounting portion 400 is located on the side of the support portion 110 that is closer to the brain of the patient, i.e., the mounting portion 400 is closer to the brain of the patient.

Referring to fig. 1, in an embodiment, the mounting portion 400 and the supporting portion 100 may be fixedly connected by a first fastener 450. The first fastener 450 may be a lock bolt or the like.

Referring to fig. 1 and 8, in one embodiment, the mounting portion 400 includes a tower 410, an upper casing seat 420, and a lower casing seat 430. The lower cannula mount 430 is located on the side of the upper cannula mount 420 facing away from the first cradle 300, i.e. the lower cannula mount 430 is closer to the brain of the patient. The upper casing base 420 and the lower casing base 430 are fixedly connected to the tower 410, respectively. The upper casing seat 420 is provided with an upper casing 421, the lower casing seat 430 is provided with a lower casing 431, the upper casing 421 is provided with an upper casing hole 4211, and the lower casing 431 is provided with a lower casing hole 4311. Referring to fig. 1, 6 and 7, the upper sleeve hole 4211 and the lower sleeve hole 4311 are used to pass the puncture needle 80.

When the implantation device 10 is used for implanting the microelectrode into a target spot of a brain of a patient, the puncture needle 80 needs to be firstly inserted into the upper sleeve hole 4211 and the lower sleeve hole 4311, then a spacing tube (not shown) is inserted into the puncture needle 80, and finally the microelectrode is inserted into the spacing tube to play a role in guiding the microelectrode.

The puncture needle 80 is arranged in the upper sleeve hole 4211 and the lower sleeve hole 4311 in a penetrating manner, so that the upper sleeve hole 4211 and the lower sleeve hole 4311 play a role in guiding the puncture needle 80, namely, a microelectrode, and the microelectrode is prevented from being bent in an implantation process.

Referring to fig. 8, in an embodiment, the distance between the upper socket 420 and the lower socket 430 is adjustable, so that the distance between the upper socket 421 and the lower socket 432 can be adjusted.

The lower casing mount 430 may be fixedly connected to the tower 410. The upper casing seat 420 is adjustably coupled to the tower 410 such that the spacing between the upper casing seat 420 and the lower casing seat 430 is adjustable.

Referring to FIG. 8, in one embodiment, the tower 410 is inserted into the upper casing seat 420 and is fastened by the second fastener 440. When the second fastening member 440 is loosened, the upper casing base 420 can be adjusted in position along the length direction of the tower 410, and when the adjustment is completed, the upper casing base 420 and the tower 410 can be locked by the second fastening member 440. The second fastener 440 is, for example, a lock bolt.

Referring to fig. 8, in one embodiment, the upper sleeve 421 has an upper sleeve hole 4211, and the lower sleeve 431 has a lower sleeve hole 4311.

In neurosurgery, part of the operations need to perform electrical stimulation not only at a target point but also around the target point, and observe electrophysiological signals of a patient by continuously adjusting the position of the electrical stimulation. To this end, referring to fig. 9 and 10, in another embodiment, the upper sleeve 421 has a plurality of upper sleeve holes 4211 arranged in an array, the lower sleeve 431 has a plurality of lower sleeve holes 4311 arranged in an array, and the upper sleeve holes 4211 correspond to the lower sleeve holes 4311 one by one. A microelectrode can be arranged in each pair of the upper sleeve hole 4211 and the lower sleeve hole 4311 in a penetrating way, so that the microelectrodes can be arranged in different upper sleeve holes 4211 and lower sleeve holes 4311 in a penetrating way respectively, and the electrical stimulation can be carried out on other positions around the target point.

Referring to fig. 1 and 4, in an embodiment, the supporting portion 100 includes a vertical plate 110 and a horizontal plate 120 fixedly connected to the vertical plate 110. The drive assembly is disposed on a riser 110.

Referring to fig. 1 and 4, in an embodiment, the tower frame 410 is inserted into the cross plate 120, and the tower frame 410 is locked with the cross plate 120 by the first fastener 450. When the first fastening member 450 is loosened, the cross plate 120 may be adjusted in position along the length of the tower frame 410, and when the adjustment is completed, the tower frame 410 may be locked with the cross plate 120 by the first fastening member 450.

Referring to fig. 1 and 4, the horizontal plate 120 is provided with a sleeve mounting hole 121 for receiving the upper sleeve 421. The upper sleeve 421 can be reliably connected with the cross plate 120 by the third fastener 122 and the fourth fastener 123 respectively passing through the cross plate 120 to abut against the side wall of the upper sleeve 421.

Referring to fig. 1, in an embodiment, the implantation device 10 further includes an elongated electrode holder 500 and a second holder 600 for holding the micro-electrodes 90, one end of the elongated electrode holder 500 is connected to the output portion 243, the second holder 600 is disposed at the other end of the elongated electrode holder 500, and the second holder 600 is located at a side of the first holder 300 facing away from the ends of the micro-electrodes. The tail end of the microelectrode, namely one end of the microelectrode used for implanting a target point. The head end of the microelectrode is the end of the microelectrode, which is deviated from the target point.

The types of the microelectrodes adopted by different operation modes in the neurosurgery are different, so that the length of the microelectrodes is different. When the microelectrode is implanted into the brain of a patient, the longer the length of the microelectrode is, the farther the distance between the head end and the tail end of the microelectrode is. In this embodiment, by providing the long electrode holder 500, one end of the long electrode holder 500 is connected to the supporting portion 100, and the other end extends in a direction away from the end of the micro-electrode, so that the second holder 600 can be located at a side of the first holder 300 away from the end of the micro-electrode, that is, the second holder 600 is further away from the end of the micro-electrode, so that the second holder 600 can be used to hold the head end of the relatively long micro-electrode, and the first holder 300 can be used to hold the head end of the relatively short micro-electrode, and thus the implantation device 10 can be applied to micro-electrodes of different lengths.

An embodiment of the present application also provides a surgical robot. The surgical robot includes: a surgical cart, a robotic arm, an implant device 10, a navigation cart, and an optical navigation system in any of the embodiments described above. The mechanical arm is arranged on the operation trolley. The implant device 10 is attached to the end of a robotic arm. The optical navigation system is arranged on the navigation trolley and used for guiding the mechanical arm to move to the operation planning position according to the operation planning path.

When the implantation device 10 is used for implanting the microelectrode into a target point of a brain of a patient, the second clutch 232 may be switched to the second disengaged position and the first clutch 231 may be switched to the first engaged position, so that the output portion 243 carrying the first bracket 300 and the microelectrode moves together to implant the microelectrode into the brain of the patient by driving of the first driving portion 210. In the process of implanting the microelectrode, if the first driving part 210 fails, the second clutch 232 can be switched to the second engaging position and the first clutch 231 can be switched to the first disengaging position, so that the output part 243 carrying the first bracket 300 and the microelectrode can move together by the driving of the second driving part 220, the microelectrode can be implanted into a target spot of the brain of a patient, and the surgical process can be smooth. Moreover, in the process of implanting the microelectrode, the first clutch 231 and the second clutch 232 can be switched autonomously according to the real-time condition of the microelectrode implantation process, the first clutch 231 is switched to the first engaging position or the second clutch 232 is switched to the second engaging position, so that the implant can be accurately implanted into a target spot, and the operation freedom degree and accuracy of the operation of a doctor are improved.

The specific structures and working principles of the surgical trolley, the mechanical arm, the navigation trolley and the optical navigation system can refer to the prior art, and are not described herein again.

Referring to fig. 7 and 11, in one embodiment, the surgical robot further includes an adapter 60. The adaptor body 61 is connected at one end to the end of the robotic arm and at the other end to the implant device 10, thereby enabling the implant device 10 to be connected to the end of the robotic arm.

Referring to fig. 7, in one embodiment, the surgical robot further includes a tool target 70. The tool target 70 is disposed on the adaptor 60. The optical navigation system is used to guide the robotic arm movement and positioning by monitoring the position of the tool target 70. The principle of monitoring the tool target 70 by the optical navigation system can be referred to in the prior art, and is not described in detail herein.

Referring to fig. 7 and 11, in one embodiment, the adaptor 60 includes an adaptor body 61 and a snap quick release structure 62, one end of the adaptor body 61 is connected to the end of the mechanical arm, and the snap quick release structure 62 is disposed at the other end of the adaptor body 61, so that the adaptor body 61 is connected to the implant device 10 through the snap quick release structure 62. Quick installation and removal of the implant device 10 is facilitated by the snap quick release structure 62.

Referring to fig. 11, in an embodiment, the adapter body 61 is provided with a locking hole 611. The handle 621 includes a first portion, a second portion connected to the first portion, and a grip portion 6213. The first portion includes two spaced-apart gripping arms 6211 and the second portion includes two spaced-apart connecting arms 6212. One end of the two gripper arms 6211 is hinged to the adaptor body 61. The other ends of the two gripper arms 6211 are connected to the two connecting arms 6212 in a one-to-one correspondence. The gripping arm 6211 is disposed at an angle to the connecting arm 6212. The two ends of the grip portion 6213 are respectively connected to the ends of the two connecting arms 6212 that are away from the holding arms 6211. The spacing between the two attachment arms 6212 is greater than the spacing between the two gripping arms 6211. Two gripping arms 6211 are used to grip the implantation device 10 and two attachment arms 6212 are used to release the implantation device 10.

When the handle 621 is rotated to the locking angle, the space between the two holding arms 6211 corresponds to the locking hole 611, and the implant device 10 can be clamped, so that the implant device 10 is mounted on the tip of the robot arm. When the handle 621 is rotated to the release angle, the space between the two connecting arms 6212 corresponds to the locking hole 611. Since the distance between the two connecting arms 6212 is greater than the distance between the two holding arms 6211, the two connecting arms 6212 can release the implant device 10 so that the implant device 10 is removed from the locking hole 611 and thus detached from the distal end of the robot arm.

In other embodiments, the quick-release buckle structure may also adopt other structures in the prior art, which is not limited herein.

In one embodiment, the snap quick release structure 62 is adapted to couple with the mounting portion 400 of the implant device 10. Specifically, the snap quick release structure 62 may be used to connect with the upper sleeve 421.

Referring to fig. 7 and 11, the handle 621 is first set at a releasing angle, the lower end of the upper sleeve 421 is inserted between the locking hole 611 and the two connecting arms 6212, and the handle 621 is then switched to a locking angle, so that the two clamping arms 6211 clamp the upper sleeve 421.

Referring to FIG. 12, in one embodiment, optical mark structures 91 are disposed at the tip of the micro-electrodes 90. The optical navigation system can recognize the optical mark structure 91 in real time, so that the implantation depth of the microelectrode 90 can be monitored in real time according to the optical mark structure 91, and the microelectrode 90 can be accurately implanted into a target spot of the brain of a patient.

The specific structure of the optical mark structure 91 and the identification manner of the optical navigation system to the optical mark structure 91 may refer to the prior art, which are not described in detail herein.

An embodiment of the present application further provides a workflow of implanting a microelectrode into a target spot of a brain of a patient by a surgical robot, which is as follows:

firstly, a doctor uses a preoperative planning system of a surgical robot to perform segmentation and fusion according to medical image data such as Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) taken by a patient, and confirms a skull entering point, a target point, a puncture path and the like, so as to complete surgical path planning;

then, respectively registering and registering the mechanical arm and the navigation camera, and the head position of the patient and the navigation camera through an optical navigation system, and ensuring that the mechanical arm, the head of the patient and the navigation camera are in the same coordinate system;

then, the mechanical arm is guided by the navigation system in the operation to move to a planned path and then automatically locked, after the doctor completes the operations of disinfection, drilling, puncture and the like, the microelectrode can be implanted into the brain of the patient by using the implantation device 10, and the implantation depth of the microelectrode can be monitored in real time by using the optical marking structure 91 in the implantation process.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An implant device, the implant device comprising: support portion, setting are in drive assembly and the first bracket that is used for centre gripping implant on the support portion, drive assembly includes: the clutch assembly comprises a first driving part, a second driving part, a clutch assembly and a transmission assembly;

the clutch assembly comprises a first clutch piece and a second clutch piece, the first clutch piece is provided with a first engagement position and a first disengagement position which can be switched mutually, the first clutch piece is used for coaxially connecting the output shaft of the first driving part with the first input part in a transmission manner when in the first engagement position, and the first clutch piece is used for disconnecting the output shaft of the first driving part from the first input part in the transmission manner when in the first disengagement position; the second clutch has a second engagement position and a second disengagement position, which are switchable with each other, and in the second engagement position, the second clutch connects the second drive part to the second input part in a coaxial transmission manner, and in the second disengagement position, the second clutch disconnects the second drive part from the second input part in a transmission manner.

2. The implant device of claim 1,

the first clutch member is axially movably connected with one of the output shaft of the first drive portion and the first input portion such that the first clutch member is switchable between the first engaged position and the first disengaged position; the first clutch member being engaged with the other of the output shaft of the first drive portion and the first input portion when in the first engaged position, the first clutch member being disengaged from the other of the output shaft of the first drive portion and the first input portion when in the first disengaged position;

3. The implant device of claim 2, wherein the clutch assembly further comprises a clutch body in driving connection with the first clutch member and the second clutch member, respectively; the clutch main body can be selectively switched between a first state and a second state, and when the clutch main body is switched to the first state, the clutch main body simultaneously drives the first clutch piece to move to the first engaging position and drives the second clutch piece to move to the second disengaging position; when the clutch main body is switched to the second state, the first clutch piece is driven to move to the first disengaging position and the second clutch piece is driven to move to the second engaging position.

4. The implant device of claim 3,

the clutch body includes a synchronizing clutch having a first angle and a second angle of rotation about an axis perpendicular to an axial direction of the first drive portion and an axial direction of the second drive portion; two ends of the synchronous clutch piece are respectively in transmission connection with the first clutch piece and the second clutch piece and are used for driving the first clutch piece and the second clutch piece to move along opposite directions;

5. The implant device of claim 4, wherein the outer peripheral side of the first clutch member is provided with a circumferentially surrounding first annular groove and the outer peripheral side of the second clutch member is provided with a circumferentially surrounding second annular groove; one end of the synchronous clutch piece is matched with the first annular groove, and the other end of the synchronous clutch piece is matched with the second annular groove.

6. The implant device of claim 4,

the clutch assembly further comprises a linkage part, and the synchronous clutch piece and the second driving part are in transmission connection with the linkage part respectively;

7. The implant device as claimed in claim 6, wherein the second driving portion has a third circumferential groove formed on an outer circumferential side thereof, and the linkage portion has one end engaged with the third circumferential groove and the other end rotatably connected to the synchronizer clutch.

8. The implant device of claim 2, wherein the first clutch engages the other of the output shaft of the first drive portion and the first input portion when in the first engaged position; the second clutch is engaged with the other of the second drive portion and the second input portion when in the second engaged position.

9. The implant device of claim 2,

the output part is connected with the supporting part in a sliding mode, and the first driving part, the second driving part, the clutch assembly, the first input part and the second input part are arranged on the output part respectively;

10. The implant device of claim 9, wherein the drive assembly further includes an intermediate member, the first and second inputs respectively engaging the intermediate member to synchronize rotation of the first, second and intermediate members such that the intermediate member can move the output.

11. The implant device of claim 1, further comprising a mount coupled to the support portion, the mount configured to mount to an end of a robotic arm or a stereotactic headframe.

12. The implant device of claim 11, wherein the mounting portion comprises a tower, an upper cannula holder and a lower cannula holder, the upper cannula holder and the lower cannula holder being fixedly connected to the tower, respectively, the lower cannula holder being located on a side of the upper cannula holder facing away from the first bracket; the puncture needle comprises an upper casing seat, a lower casing seat and a puncture needle body, and is characterized in that the upper casing seat is provided with an upper casing, the lower casing seat is provided with a lower casing, the upper casing is provided with an upper casing hole, the lower casing is provided with a casing hole, and the upper casing hole and the lower casing hole are used for penetrating the puncture needle body.

13. The implant device of claim 12, wherein the upper sleeve is provided with a plurality of upper sleeve holes arranged in an array, the lower sleeve is provided with a plurality of lower sleeve holes arranged in an array, and the upper sleeve holes correspond to the lower sleeve holes one to one.

14. The implant device of claim 1, further comprising an elongated electrode holder and a second cradle for holding the micro-electrodes, one end of the elongated electrode holder being connected to the output section, the second cradle being disposed at the other end of the elongated electrode holder, the second cradle being located on a side of the first cradle facing away from the ends of the micro-electrodes.

15. The implant device of claim 1, wherein the output shaft of the first drive portion is axially parallel to and spaced from the second drive portion; the first input part and the second input part are axially parallel and are arranged at intervals; the first driving portion and the second driving portion are located on the same side of the first input portion as the second input portion.

16. A surgical robot, comprising:

an operation trolley;

a robotic arm disposed on the surgical trolley;

the implant device of any one of claims 1-15, attached to the end of the robotic arm;

a navigation trolley; and

17. A surgical robot as claimed in claim 16, further comprising an adapter having one end connected to the end of the robotic arm and another end having a snap quick release feature and connected to the implant device by the snap quick release feature.