CN115844530A - Preparation equipment and method for robot-assisted implant implantation position - Google Patents

Abstract

The invention discloses a preparation device and a preparation method for an implant implantation position of a robot-assisted implant, which relate to the related field of intelligent medical equipment and comprise a software system and a hardware system, wherein the software system is used for automatically calculating the shape and the size of a bone bed according to the shape and the size of the implant, and automatically drawing the outline of the bone bed after the optimal position is specified in a three-dimensional view; with minimum removal volume, the installation is convenient in the guarantee art, and later stage stability replaces the staff through the arm, and the non-autonomic quivering of filtering staff is trembled, according to the accurate automatic preparation of planning before the art under the navigation guide, and whole process can be accomplished fast, through adopting the preparation that the robot arm assists the doctor to accomplish the implant bone bed, when reducing doctor's physical power and expend with operation time, brings more minimal invasive operation for the patient, shortens the operation recovery cycle.

Description

Preparation equipment and method for robot-assisted implant implantation position

Technical Field

The invention relates to the field related to intelligent medical equipment, in particular to a device and a method for preparing an implant implantation position assisted by a robot.

Background

In the operation, in order to ensure the fit between the implant and the anatomical structure of the patient bone, a bone bed with a specific shape is often required to be prepared, the traditional mode is achieved by means of repeated measurement and comparison of a template tool and the experience of a doctor, the time and the labor are consumed, and the ideal effect of preoperative planning is difficult to achieve; for example, in joint replacement surgery, such as knee joint replacement surgery, finger joint replacement surgery and other surgeries, in order to ensure that the implant can be better fitted with the joint, a doctor needs to determine the resection part and grind the bone mass by means of various positioning and measuring tools provided by a manufacturer, and in the process, the doctor needs to continuously measure and compare until the requirements are met, so that the whole process is time-consuming and labor-consuming; in some skull repairing operations, the size and the shape of a repairing part are judged and ground by a doctor according to experience, then a repairing body is manufactured according to the size and the shape, and finally the repairing body is fixed on the part to be repaired;

in the process, a doctor can plan the size and the shape to be ground through the image data of a patient, but in the actual operation process, due to the irregular shape, for some doctors with shallow experience, an area which is the same as the planned area may not be prepared, and finally, the prosthesis cannot be completely fit with the ground part, so that adverse results are generated; in the cochlear implant operation, in order to fix the implant, a bone bed (bone groove) which is consistent with the size and the shape of the implant needs to be ground at the back upper part of the ear of a patient, and the process consumes much time of a doctor; the shutdown replacement surgery, the skull repair surgery and the cochlear implant surgery are mostly performed in the traditional surgery mode at present, and an automatic device is needed to replace manual operation for achieving the purposes of precision, micro-wound and time saving, and the invention is designed based on the point; to better illustrate the present invention, a description of the function and procedure of cochlear implant surgery will be given below.

The artificial cochlea is an electronic device, and an external speech processor converts sound into an electric signal in a certain coding form, and directly excites auditory nerves through an electrode system implanted into the human body to recover or rebuild the auditory function of a deaf person; the cochlear implant is the only effective treatment means for improving hearing of patients with severe and extremely severe sensorineural deafness at present, and the step with higher difficulty and longer time consumption in the operation is to grind an implanted bone groove for accommodating a receiver/stimulator of the cochlear implant on the skull.

The common practice in the prior art is to use a template provided by a cochlea manufacturer to compare the template with a bone bed while preparing, so as to ensure proper size and depth, so that the whole implantation process is time-consuming and labor-consuming, and parts for automatically preparing the surgical path and the bone bed design are lacked, thereby being difficult to realize automatic precise surgery;

the whole process in the prior art needs a doctor and an assistant to complete, which consumes labor and time (20-30 minutes), and the recovery time of a patient is long due to the excessive grinding amount.

Disclosure of Invention

Accordingly, in order to solve the above-mentioned disadvantages, the present invention provides a robot-assisted implant implantation site preparation apparatus and a method thereof.

The invention is realized by constructing a preparation device for a robot-assisted implant implantation position, which comprises an operating table;

a patient positioning assembly for positioning and fixing by self-tapping screws near a patient operating field lying on an operating table;

the back side of the operating bed is provided with a navigation cart;

the front side of the operating table is provided with a mechanical arm cart;

the top of the mechanical arm cart is provided with an instrument positioning assembly;

the navigation cart is internally provided with a computer system, and the mechanical arm cart is internally provided with a control system.

Preferably, patient positioning assembly specifically comprises patient locator mounting, first spacing hole and patient locator, passes near first spacing hole with patient locator mounting fixed mounting in patient art district through self-tapping screw, patient locator mounting top has the patient locator that plays the positioning action through connecting rod fixed mounting.

Preferably, the navigation cart comprises a navigation cart body;

the display screen, navigation shallow main part top support is provided with the display screen that plays the display effect.

The top of the main body of the navigation cart is rotatably provided with a navigator support arm which plays a role in adjustment through a driving part;

the navigator, navigator that the navigator support arm top rotates to be installed and plays the navigation positioning effect.

Preferably, the computer system in the navigation cart comprises a control center, a medical image three-dimensional reconstruction module, a surgical path planning module, an implant automatic matching and bone bed drawing module, an instrument calibration module, a registration module, a hand-eye calibration module, a navigation module and a mechanical arm control module.

Preferably, the mechanical arm cart body comprises a mechanical arm cart body and a mechanical arm, and the top of the mechanical arm cart body is rotatably provided with the mechanical arm with an adjusting function.

Preferably, the navigation module and the mechanical arm control module are respectively connected with the navigator and the mechanical arm through control cables, and a computer in the navigation cart is fixedly connected with the navigator through a data line.

Preferably, the instrument positioning assembly comprises:

the mechanical arm tail end clamp is mounted on the top of the mechanical arm through a bolt;

the front top of the mechanical arm tail end clamp is provided with a second limiting hole for limiting;

the adapter piece which plays a role in limiting is fixedly arranged on the inner wall of the second limiting hole;

the surgical instrument is clamped and fixed in the adaptor;

the side face of the front end of the second limiting hole is in threaded connection with a fixing piece with a fixing effect;

the front end of the adapter piece is fixedly provided with the instrument positioner through a fixing piece;

preferably, through grooves are formed in the front end, the left end and the right end of a second limiting hole in the top of the mechanical arm tail end clamp, and the through grooves are fixedly mounted with the instrument positioner;

preferably, the method for preparing the implantation position of the robot-assisted implant comprises the following steps:

the method comprises the following steps: importing images and importing medical image data of a patient into a system;

step two: three-dimensional reconstruction and three-dimensional reconstruction of medical image data, and providing two-dimensional views and three-dimensional views of a coronal plane, a sagittal plane and an axial plane;

step three: bone bed rendering, automatic matching of the appropriate implant by default, according to clinical requirements, or manual selection from a library of implants by a physician, location designation by the physician on a three-dimensional view, the software automatically draws the bone bed with the size and the shape consistent with those of the implant by taking the position as the center, and the software allows a doctor to adjust the size and the shape of the bone bed as required;

step four: calibrating, registering and calibrating the tip and axial information of the surgical instrument so as to acquire the current position and direction information of the surgical instrument in space; the registration is to unify an image coordinate system and a physical coordinate system so that a software interface can accurately reflect the position information of the surgical instrument in the actual space in real time and guide the surgical instrument to carry out precise surgery in the surgery; in order to establish a relation between the navigator and the mechanical arm coordinate system, hand-eye calibration is needed;

step five: the instrument control and navigator acquires the position and posture information of the surgical instrument fixed on the clamp at the tail end of the mechanical arm and transmits the information to the computer component, and the computer component controls the mechanical arm to move after calculation;

step six: the method comprises the steps of bone bed preparation, real-time guiding of surgical instruments in an operation to perform the operation according to preoperative planning, timely alarming when the surgical instruments exceed a preset range, and controlling a mechanical arm to prepare the bone bed according to preoperative drawn data information, wherein the data information is the outline information of an implant.

The invention has the following advantages: the invention provides a preparation device for a robot-assisted implant implantation position and a method thereof through improvement, compared with the same type of device, the preparation device has the following improvements:

the invention relates to a preparation device and a preparation method for an implant position of a robot-assisted implant, which automatically calculate through a software system according to the size and the depth of a bone bed, and automatically draw a bone bed outline after an optimal position is specified in a three-dimensional view; with minimum removal amount, the installation is convenient in the guarantee art, and later stage stability.

According to the preparation equipment and the preparation method for the implantation position of the robot-assisted implant, the mechanical arm replaces a human hand, the non-autonomous shaking of the human hand is filtered, the preoperative planning accurate preparation is carried out under the guidance of navigation, and the whole process can be rapidly finished.

According to the preparation equipment and the preparation method for the implantation position of the robot-assisted implant, the robot arm is adopted to assist a doctor to complete the preparation of the bone bed of the implant, so that the physical strength consumption and time of the doctor are reduced, a more minimally invasive operation is brought to a patient, and the operation recovery period is shortened.

Drawings

FIG. 1 is a schematic diagram of the structure of the preparation process of the present invention;

FIG. 2 is a schematic diagram of the software system architecture of the present invention;

FIG. 3 is software of the present invention an execution structure schematic diagram;

FIG. 4 is a schematic diagram of the hardware system architecture of the present invention;

FIG. 5 is a perspective view of the surgical bed and navigation cart and robotic arm cart of the present invention;

FIG. 6 is a perspective view of the navigation cart of the present invention;

FIG. 7 is a perspective view of the robotic arm cart of the present invention;

FIG. 8 is a perspective view of the patient positioning assembly of the present invention;

FIG. 9 is a perspective view of the instrument positioning assembly of the present invention;

fig. 10 is a perspective exploded view of the instrument positioning assembly of the present invention.

Wherein: the device comprises an operating bed-1, a patient positioning assembly-2, a navigation cart-3, a mechanical arm cart-4, an instrument positioning assembly-5, a patient positioner fixing piece-21, a first limiting hole-22, a patient positioner-23, a navigation cart main body-31, a display screen-32, a navigator support arm-33, a navigator-34, a mechanical arm cart body-41, a mechanical arm-42, a mechanical arm tail end clamp-51, a second limiting hole-52, an adapter-53, an operating instrument-54, a fixing piece-55 and an instrument positioner-56.

Detailed Description

The present invention will be described in detail with reference to fig. 1 to 10, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, fall within the scope.

Referring to fig. 1 to 10, the apparatus for preparing a robot-assisted implant implantation site and the method thereof according to the present invention includes an operating table 1, a patient positioning assembly 2 for positioning and fixing by self-tapping screws near a patient operation area lying on the operating table 1, the patient operation area being an area where a patient's bone bed is to be abraded at a focus of the patient, such as: the back side of the operating bed 1 is provided with a navigation cart 3, the front side of the operating bed 1 is provided with a mechanical arm cart 4, the operation space is adjusted through the displacement convenience performance of the navigation cart 3 and the mechanical arm cart 4, the top of the mechanical arm cart 4 is provided with an instrument positioning assembly 5, the inside of the navigation cart 3 is provided with a computer system, and the inside of the mechanical arm cart 4 is provided with a control system;

a computer system in the navigation cart 3 is connected with a control system in the mechanical arm cart 4 through a data transmission line;

the patient positioning assembly 2 is composed of a patient positioner fixing piece 21, a first limiting hole 22 and a patient positioner 23, the patient positioner fixing piece 21 is fixedly arranged near a patient operation region by a self-tapping screw passing through the first limiting hole 22, the top of the patient positioner fixing piece 21 is fixedly provided with the patient positioner 23 which plays a role in positioning through a connecting rod, and a positioning effect is provided for a patient through the patient positioner 23;

the navigation cart 3 comprises a navigation cart main body 31, a display screen 32 playing a role in displaying is arranged on a support at the top of the navigation cart main body 31, a navigator support arm 33 playing a role in adjusting position is rotatably arranged at the top of the navigation cart main body 31 through a driving part, the navigator 34 is provided with an adjusting action through the navigator support arm 33, the navigator 34 playing a role in navigation positioning is rotatably arranged at the top of the navigator support arm 33, and the navigator 34 is respectively positioned and calibrated with the patient positioner 23 and the instrument positioner 56 through the navigator 34, so that the space positioning effect on patients and instruments is favorably improved;

the computer system software system in the navigation cart 3 comprises a control center, a medical image three-dimensional reconstruction module, a surgical path planning module, an implant automatic matching and bone bed drawing module, an instrument calibration module, a registration module, a hand-eye calibration module, a navigation module and a mechanical arm control module, and the automatic control effect of the navigation cart 3 is improved;

the mechanical arm cart 4 is composed of a mechanical arm cart body 41 and a mechanical arm 42, the top of the mechanical arm cart body 41 is rotatably provided with the mechanical arm 42 playing a role in adjustment, a navigation module and a mechanical arm control module are respectively connected with the navigator 34 and the mechanical arm 42 through control cables, a computer in the navigation cart 3 is fixedly connected with the navigator 34 through a data line, space adjustment action is provided for the instrument positioning assembly 5 through the mechanical arm 42, and navigation positioning action is carried out through cooperation of the navigator 34;

the instrument positioning assembly 5 comprises an end clamp 51 of the mechanical arm, the end clamp 51 of the mechanical arm is mounted on the top of the mechanical arm 42 through a bolt, a second limiting hole 52 with a limiting effect is formed in the front top of the end clamp 51 of the mechanical arm, the second limiting hole 52 provides a mounting limiting effect for an adapter 53 and a motor 54, the adapter 53 with the limiting effect is fixedly mounted on the inner wall of the second limiting hole 52, a surgical instrument 54 is clamped and fixed inside the adapter 53, the surgical instrument 54 specifically comprises a motor and a handle, the side face of the front end of the second limiting hole 52 is in threaded connection with a fixing part 55 with a fixing effect, an instrument positioner 56 is fixedly mounted at the front end of the adapter 53 through the fixing part 55, and a positioning effect is provided for the space position of the instrument through the instrument positioner 56;

both ends all are equipped with logical groove about and at the front end of the spacing hole 52 of arm end anchor clamps 51 top second, and should lead to groove and 56 fixed mounting of apparatus locator, provide the spacing effect of installation for apparatus locator 56 on three direction through leading to the groove, and arm end anchor clamps 51 specifically comprises circular disk and linking diaphragm, and links up the diaphragm front end and be equipped with the spacing hole 52 of second.

The invention provides a preparation device for an implant position of a robot-assisted implant and a method thereof through improvement, and the working principle is as follows;

firstly, when the equipment is used, the equipment is placed in a working area, and then a device is connected with an external power supply, so that the power supply required by the work of the equipment can be provided;

secondly, when performing an operation, a medical worker firstly places a patient on the operating bed 1, according to an operation position, a patient operation area faces a doctor, and meanwhile, according to a field situation, the doctor can push the navigation cart 3 and the mechanical arm cart 4 to be distributed on the front side or the rear side of the operating bed 1 in a displacement manner, the patient positioner fixing piece 21 is fixedly installed near the patient operation area through a self-tapping screw passing through a first limiting hole 22, the patient operation area is an area of a patient focus to be ground, a patient positioner 23 with a positioning effect is fixedly installed at the top of the patient positioner fixing piece 21 through a connecting rod, the patient positioner 23 provides spatial position data for the patient under the positioning effect of the navigator 34, then medical image data of the patient is led into a computer system in the navigation cart 3, and a three-dimensional reconstruction module in the computer system is used for three-dimensionally reconstructing the medical image data according to the data, so as to provide a two-dimensional view and a three-dimensional view of a coronal plane, a sagittal plane and an axial plane;

thirdly, according to clinical requirements, an implant automatic matching and bone bed drawing module in the computer system can automatically match a proper implant according to patient conditions and surgical requirements, or a doctor manually selects the implant from an implant library, specifies a position on a three-dimensional view by the doctor, automatically draws a bone bed with the size and the shape consistent with those of the implant by taking the position as the center, allows the doctor to adjust the size and the shape of the bone bed according to requirements, fixedly installs a handle 55 and a bone drill in a surgical instrument 54 at the bottom of a motor in the surgical instrument 54, provides an installation limiting effect for the motor in the surgical instrument 54 through an adapter 53, fixedly places the adapter 53 inside a second limiting hole 52, inserts an instrument positioner 56 into a groove at the front end of the adapter 53, and fixedly installs the adapter 53 and the instrument positioner 56 on a transverse plate at the front end of a mechanical arm end clamp 51 through a fixing piece 55;

fourthly, at this time, the spatial position and the three-dimensional coordinate system of the surgical instrument 54 are registered through an instrument calibration module and a registration module in the computer system, the navigator 34 is controlled to perform positioning actions with the patient positioner 23 and the instrument positioner 56, so that the spatial position and the direction information of the handle 55 and the surgical instrument 54 are obtained, the surgical instrument 54 described herein is specifically an osteotome in the handle 55 and the surgical instrument 54, an image coordinate system (software image) and a physical coordinate system (patient) are unified, so that a software interface can accurately reflect the position information of the surgical instrument 54 in an actual space in real time, then, the hand-eye calibration module in the computer system performs hand-eye calibration on the navigator 34 and the mechanical arm 42, the mechanical arm control module in the computer system controls the mechanical arm 42 to perform spatial position adjustment under the guiding action of the navigator 34, and the mechanical arm 42 performs a bone bed preparation action according to the preoperatively drawn data information.

The invention provides a preparation device and a preparation method for an implant position of a robot-assisted implant through improvement, wherein the size and the depth of a bone bed are automatically calculated through a software system, and after an optimal position is specified in a three-dimensional view, the contour of the bone bed is automatically drawn; with minimum amount of grinding, the installation is convenient in the guarantee art, and later stage stability, replaces the staff through arm 42, and the non-autonomic trembling of filtering staff is shaken, according to the accurate preparation of planning before the art under the guide of navigator 34, and whole process can be accomplished fast, through adopting arm 42 to assist the preparation that the doctor accomplished the implant bone bed, when reducing doctor's physical power and expending with time, for the patient brings more minimal access's operation, shortens the operation recovery cycle.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described, and the standard parts used in the present invention are all available on the market, the special-shaped parts can be customized according to the description and the accompanying drawings, the specific connection mode of each part adopts the conventional means of bolt and rivet, welding and the like mature in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A robot-assisted implant implantation site preparation apparatus, comprising an operating bed (1);

a patient positioning assembly (2), wherein the patient positioning assembly (2) is used for positioning and is fixed near a surgical area of a patient lying on the operating table (1) through self-tapping screws;

the navigation cart (3) is arranged on the rear side of the operating bed (1);

the front side of the operating bed (1) is provided with a mechanical arm cart (4);

the top of the mechanical arm tail end clamp of the mechanical arm cart (4) is provided with an instrument positioning assembly (5);

the navigation cart (3) is internally provided with a computer system, and the mechanical arm cart (4) is internally provided with a control system.

2. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 1, wherein: patient positioning component (2) specifically comprises patient locator mounting (21), first spacing hole (22) and patient locator (23), passes first spacing hole (22) through the self tapping screw and with patient locator mounting (21) fixed mounting near patient art district, patient locator mounting (21) top has patient locator (23) that plays the positioning action through connecting rod fixed mounting.

3. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 1, wherein: the navigation cart (3) comprises a navigation cart body (31);

the display screen (32) is arranged on the top support of the navigation cart main body (31) and plays a role in displaying.

The top of the navigation cart main body (31) is rotatably provided with a navigator support arm (33) which plays a role in adjustment through a driving part;

the top of the navigator support arm (33) is rotatably provided with a navigator (34) which plays a role in navigation and positioning.

4. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 3, wherein: the computer system in the navigation cart (3) comprises a control center, a medical image three-dimensional reconstruction module, a surgical path planning module, an implant automatic matching and bone bed drawing module, an instrument calibration module, a registration module, a hand-eye calibration module, a navigation module and a mechanical arm control module.

5. The robotic-assisted automated implant bed preparation apparatus of claim 1, wherein: the mechanical arm cart (4) is composed of a mechanical arm cart body (41) and a mechanical arm (42), and the top of the mechanical arm cart body (41) is rotatably provided with the mechanical arm (42) which plays a role in adjusting.

6. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 4, wherein: the navigation module and the mechanical arm control module are respectively connected with a navigator (34) and a mechanical arm (42) through control cables, and a computer in the navigation cart (3) is fixedly connected with the navigator (34) through a data line.

7. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 1, wherein: the instrument positioning assembly (5) comprises:

the mechanical arm tail end clamp (51) is mounted on the top of the mechanical arm (42) through a bolt;

the front top of the mechanical arm tail end clamp (51) is provided with a second limiting hole (52) which plays a limiting role;

the inner wall of the second limiting hole (52) is fixedly provided with the adapter (53) which has a limiting effect.

8. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 7, wherein: the instrument positioning assembly (5) further comprises:

the surgical instrument (54) is clamped and fixed in the adaptor (53);

the side face of the front end of the second limiting hole (52) is in threaded connection with the fixing piece (55) with a fixing effect;

the front end of the adaptor (53) is fixedly provided with the instrument positioner (56) through a fixing piece (55).

9. The apparatus for preparing a position for implantation of a robot-assisted implant according to claim 7, wherein: the front end and the left and right ends of a second limiting hole (52) in the top of the mechanical arm tail end clamp (51) are provided with through grooves, and the through grooves and the instrument positioner (56) are fixedly installed.

10. The method for preparing an implantation site of a robot-assisted implant according to any one of claims 1 to 9, wherein: the method comprises the following steps:

the method comprises the following steps: importing images and medical image data of a patient into a system;

step two: three-dimensional reconstruction and three-dimensional reconstruction of medical image data, and providing two-dimensional views and three-dimensional views of a coronal plane, a sagittal plane and an axial plane;

step three: drawing a bone bed, automatically matching a proper implant by default through a system according to clinical requirements, or appointing a position on a three-dimensional view by a doctor after manually selecting from an implant library by the doctor, automatically drawing the bone bed which is consistent with the size and the shape of the implant by the software by taking the position as a center, and allowing the doctor to adjust the size and the shape of the bone bed as required;

step four: calibrating the tip and axial information of the surgical instrument (54) to obtain the current position and direction information of the surgical instrument (54) in space; the registration is to unify an image coordinate system and a physical coordinate system so that a software interface can accurately reflect the position information of the surgical instrument (54) in the actual space in real time and guide the surgical instrument (54) to carry out precise surgery in the surgery; in order to establish a relation between the navigator (34) and the coordinate system of the mechanical arm (42), hand-eye calibration is needed;

step five: the instrument control and navigator acquires position information of a surgical instrument (54) fixed on a clamp (51) at the tail end of the mechanical arm and transmits the position information to the computer component, and the computer component controls the mechanical arm (42) to move after calculation;

step six: the bone bed preparation and the operation are carried out by guiding a surgical instrument (54) in real time according to preoperative planning, alarming is carried out in time when the range is beyond a preset range, so that key anatomical structures or nerve tissues are prevented from being injured, and the mechanical arm (42) is controlled to prepare the bone bed according to preoperatively drawn data information, wherein the data information is the contour information of an implant.

Images