CN116919589A

CN116919589A - Navigation method and navigation system of surgical instrument

Info

Publication number: CN116919589A
Application number: CN202210342220.7A
Authority: CN
Inventors: 严家和
Original assignee: Bingshuo Medical Singapore Pte Ltd
Current assignee: Bingshuo Medical Singapore Pte Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2023-10-24

Abstract

The invention discloses a navigation method and a navigation system of a surgical instrument. The navigation method comprises the following steps: setting a predetermined surgical path; measuring the position and the azimuth of a surgical instrument through a positioning unit, wherein the surgical instrument is provided with a transmission mechanism and an operation end; measuring the stress condition of the operation end of the surgical instrument by means of a force sensor; calculating first deformation information of the surgical instrument due to the stress condition according to the stress deformation model; calculating a compensation amount according to the first deformation information and the measured position and orientation of the surgical instrument; and adjusting the position and the orientation of the surgical instrument according to the compensation amount so as to maintain the surgical instrument on a predetermined surgical path. According to the navigation method and the navigation system for the surgical instrument, provided by the invention, the deformation information of the surgical instrument can be measured and calculated in real time, the offset of the surgical instrument is calculated and corrected according to the deformation information during navigation, and the offset is displayed on a navigation interface in real time and correspondingly compensated, so that the overall navigation precision can be improved.

Description

Navigation method and navigation system of surgical instrument

Technical Field

The present invention relates to a navigation method and a navigation system for a surgical instrument, and more particularly, to a navigation method and a navigation system for performing path correction according to an offset of a surgical instrument deformed by a force.

Background

In a common orthopedic operation, assistance is often performed by means of computer-aided navigation software or an image-guided mechanical arm, so as to achieve the purpose of positioning in the operation.

For example, the relative position and orientation of the robot arm and bone may be measured using optical positioning, and precision positioning and bone surgery performed by dynamic tracking compensation control. The optical positioning mode is to detect a reflective ball arranged on the mechanical arm, so that the relative position, the azimuth, the speed and other information between the patient and the mechanical arm are judged.

However, in a partial orthopedic operation requiring penetration into the operation site, when the operation end of the surgical instrument enters the operation site to be shielded, the surgical instrument may be affected by external forces such as extrusion or hard object obstruction during the operation, thereby causing deformation of the surgical instrument. Under the condition that the stress and the deformation degree cannot be known, the deformation can cause the deviation of the computer-aided navigation result, and besides the deviation possibly caused by the deviation from a preset operation path, the risk of operation failure is further improved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a navigation method and a navigation system capable of carrying out path correction according to the deflection of a surgical instrument deformed by stress aiming at the defects of the prior art.

In order to solve the technical problems, one technical scheme adopted by the invention is to provide a navigation method of a surgical instrument, which comprises the following steps: setting a predetermined operation path; measuring the position and the orientation of a surgical instrument by a positioning unit, wherein the surgical instrument is provided with a transmission mechanism and an operation end; measuring a force or bending condition of the operative end of the surgical instrument by means of a sensor; calculating first deformation information of the surgical instrument due to the stress condition or the bending condition according to a stress deformation model; calculating a compensation amount according to the first deformation information and the measured position and the measured azimuth of the surgical instrument; and adjusting the position and the orientation of the surgical instrument in accordance with the compensation amount to maintain the surgical instrument on the predetermined surgical path.

Preferably, the positioning unit comprises a plurality of detection marks and the navigation method comprises detecting the positions of a plurality of the detection marks by an optical detector to position the position and the orientation of the surgical instrument.

Preferably, the navigation method further comprises adjusting the position and the orientation of the surgical instrument according to the compensation amount by a plurality of arms respectively connected to a plurality of actuation units.

Preferably, the navigation method further comprises displaying the first deformation information on a navigation interface for navigating the surgical instrument.

Preferably, the surgical instrument includes a body disposed between the transmission mechanism and the applicator end.

Preferably, the stress deformation model defines a stress corresponding variable change curve of the main body.

Preferably, the sensor is a sheet-like force sensor that is overmolded and secured to the body adjacent the applicator end.

Preferably, the sensor is a fiber optic shape sensor (optical fiber shape sensor) disposed along the body.

In order to solve the above technical problems, the present invention also provides a navigation system of a surgical instrument, which includes a computing device, a surgical instrument and a driving mechanism. The computing device includes a processor and a memory. The surgical instrument is provided with a sensor electrically connected with the computing device and is provided with a transmission mechanism and an operation end. And the driving mechanism is connected with the transmission mechanism and is controlled by the computing device to drive the surgical instrument. Wherein the processor is configured to: obtaining a predetermined operation path; measuring the position and orientation of the surgical instrument by a positioning unit; measuring a force or bending condition of the surgical end of the surgical instrument by the sensor; calculating first deformation information of the surgical instrument due to the stress condition or the bending condition according to a stress deformation model; calculating a compensation amount according to the first deformation information and the measured position and the measured azimuth of the surgical instrument; and adjusting the position and the orientation of the surgical instrument in accordance with the compensation amount to maintain the surgical instrument on the predetermined surgical path.

Preferably, the positioning unit comprises a plurality of detection marks, and the computing device is further configured to position the position and the orientation of the surgical instrument by detecting the positions of a plurality of the detection marks by an optical detector.

Preferably, the navigation system further comprises adjusting the position and the orientation of the surgical instrument according to the compensation amount by a plurality of arms respectively connected to a plurality of actuation units.

Preferably, the navigation system further comprises a navigation interface electrically connected to the computing device, configured to navigate the surgical instrument and display the first deformation information.

Preferably, the sensor is an optical fiber shape sensor disposed along the body.

The navigation method and the navigation system for the surgical instrument have the advantages that deformation information of the surgical instrument can be measured and calculated in real time, the offset of the surgical instrument is calculated and corrected according to the deformation information during navigation, the offset is displayed on a navigation interface in real time, and corresponding compensation is performed, so that the overall navigation precision can be improved.

In addition, in the navigation method and the navigation system of the surgical instrument, the stress and the temperature condition of the surgical instrument can be monitored in real time during navigation, and if the stress exceeds the set stress range, a user is reminded of the risk of instrument fracture or a corresponding risk control program is executed.

For a further understanding of the nature and the technical aspects of the present invention, reference should be made to the following detailed description of the invention and the accompanying drawings, which are provided for purposes of reference only and are not intended to limit the invention.

Drawings

FIG. 1 is a functional block diagram of a navigation system for a surgical instrument according to one embodiment of the present invention.

Fig. 2 is an exploded schematic view of a surgical instrument and drive mechanism according to an embodiment of the present invention.

Fig. 3 is an enlarged view of a portion of a surgical instrument according to an embodiment of the present invention.

Fig. 4 is a flow chart illustrating a method of navigating a surgical instrument according to an embodiment of the present invention.

Fig. 5 is a schematic view of an orthopedic operation performed with the surgical instrument of the present invention according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of a surgical site and planned surgical path displayed by a navigation interface according to an embodiment of the present invention.

FIG. 7 is a graphical representation of deformation information for a surgical instrument under different force magnitudes according to an embodiment of the present invention.

Fig. 8 is a graph of stress versus variable for a surgical instrument according to an embodiment of the invention.

Detailed Description

The following are by way of specific examples. The following description is given of specific embodiments of the disclosed method and system for navigating a surgical instrument, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all from the point of view and application, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention. In addition, the term "or" as used herein shall include any one or combination of more of the associated listed items as the case may be.

FIG. 1 is a functional block diagram of a navigation system for a surgical instrument according to one embodiment of the present invention. Referring to fig. 1, the embodiment provides a navigation system 1 for a surgical instrument, which includes a computing device 10, a surgical instrument 11, a driving mechanism 12, a force sensor 13, and a deformation sensor 17.

The computing device 10 includes a processor 100, a memory 102, an input-output interface 104, and an image processor 106. The processor 100, the memory 102, the input/output interface 104, and the image processor 106 may communicate via the bus 108, but the invention is not limited thereto. The computing device 10 is implemented, for example, in a database, general processor, calculator, server, or other unique hardware device or device with specific logic circuits, such as integrating program code and processor/chips into unique hardware. In more detail, a part or all of the navigation system and the navigation method provided by the present invention can be implemented by a computer program, and the computer program can be stored in a non-transitory computer readable recording medium, such as a read-only memory, a flash memory, a floppy disk, a hard disk, an optical disk, a USB flash disk, a magnetic tape, a database accessible by a network, or a computer readable recording medium having the same functions as those skilled in the art.

The processor 100 may be, for example, an integrated Circuit of a programmable logic control Circuit (Programmable Logic Controller Circuit), a Micro-processing Circuit (Micro-processor Circuit) or a Micro-control Circuit (Micro-control Circuit), a central processing unit, or the like. Memory 102 is any storage device that may be used to store data and may be, for example, but is not limited to, random access memory (random access memory, RAM), read Only Memory (ROM), flash memory, a hard disk, or other storage device that may be used to store data. The image processor 106, also known as a display core, a vision processor, a display chip, a display adapter, or a graphics chip, is a microprocessor that performs graphics operations on personal computers, workstations, gaming machines, and some mobile devices (e.g., tablet computers, smartphones, etc.).

The input/output interface 104 may include one or more physical ports (e.g., ports that may be universal input/output or support high definition multimedia interface (High Definition Multimedia Interface, HDMI), displayPort, universal serial bus (english: universal Serial Bus, USB), ethernet (Ethernet), ethernet control automation technology (Ethernet for Control Automation Technology, etherCAT), etc.), and one or more wireless communication modules (e.g., wireless communication adapter cards that support bluetooth, WI-FI, etc.). The computing device 10 may be connected to the driving mechanism 12, the force sensor 13, and the deformation sensor 17 through the input/output interface 104 in a wired or wireless manner.

Furthermore, the navigation system 1 may further include a positioning unit 14, an optical detector 15, and a display device 16, and the computing device 10 may also be connected to the optical detector 15 and the display device 16 through the input/output interface 104 in a wired or wireless manner.

Referring further to fig. 2 and 3, fig. 2 is an exploded view of a surgical instrument and a driving mechanism according to an embodiment of the present invention, and fig. 3 is a partially enlarged view of a surgical instrument according to an embodiment of the present invention. As shown in fig. 2 and 3, the surgical device 11 may be, for example, a drill bit, a trocar, or a saw blade, for example, and is gripped by the adapter 113. The surgical device 11 is provided with a force sensor 13 electrically connected to the computing device 10, and the surgical device 11 includes a body 114 disposed between the transmission mechanism 110 and the application end 112.

In some embodiments, the force sensor 13 may be sheet-like as shown in FIG. 3, which may be crimped and then overmolded onto the body 114 adjacent the applicator end 112. And when the force sensor 13 completely covers the peripheral side of the application end 112, the force and the magnitude of the force from all directions on the side of the application end 112 can be detected. However, the present embodiment is merely an example, and the implementation manner of the force sensor 13 is not limited thereto, and may be disposed corresponding to the surface topography of the surgical device 11 and fixed to the surgical end of the surgical device 11. The deformation sensor 17 may be disposed on or within the body 114. Also, the deformation sensor 17 may be, for example, an optical fiber shape sensor (optical fiber shape sensor) disposed along the main body 114. By configuring the fiber grating (fiber bragg grating, FBG) over the entire fiber, the computing device 10 can analyze the changes in light reflection and provide accurate deformation measurements by interpreting such information.

Drive mechanism 12 is coupled to transmission mechanism 110 and is controlled by computing device 10 to drive surgical device 11. In detail, the driving mechanism 12 adopts a parallel mechanism with six degrees of freedom of movement, and is provided with six groups of actuating units 122 and six corresponding groups of arms 120. Each actuation unit may include a motor, a coupling, a lead screw, and a slide bar. The motor may be electrically connected to the computing device 10, and when the computing device 10 controls the motor to drive the lead screw to rotate, the lead screw drives the arm 120 to operate. With the above-described configuration, when the actuation unit 122 actuates the arm 120, the movable plate 124 is caused to move or rotate in space to different positions/orientations in conjunction therewith, thereby moving the surgical device 11 on the adapter 113 to a desired position/orientation. The parallel mechanism uses a Stirling platform design well known in the art, and therefore, the details thereof are not described herein.

It should be noted that, the force sensor 13 of the embodiment of the present invention is not connected to the transmission mechanism 110 of the surgical device 11 (i.e. is not disposed at the front end of the smith platform), and is because the force and moment fed back there are affected by the length, deformation, noise, etc. of the device, so that it is difficult for the computing device 10 to accurately analyze the force components of the surgical device 11 in different directions, and it is not possible to compensate the offset of the surgical device 11 due to the deformation caused by the force during navigation.

Alternatively, the drive mechanism 12 may be disposed in a housing 19 having one or more handles 18, allowing a user to grasp the handles 18 and manipulate the surgical device 11 during operation. In addition, one or more control buttons may be provided on the handle 18 to allow a user to start, stop or adjust the operation of the surgical device 11, depending on the type of surgical device 11 being used.

The following will describe a method of navigating a surgical instrument according to the present invention based on fig. 1 to 3. Referring to fig. 4, which is a flowchart of a navigation method of a surgical instrument according to an embodiment of the present invention, it should be noted that, in the embodiment of fig. 4, the force sensor 13 is used as a main component for measuring deformation information of the surgical instrument 11, and the deformation sensor 17 is used as an auxiliary component for determining the deformation information. In other embodiments, however, the deformation sensor 17 may be used as a primary component for measuring deformation information of the surgical device 11, and the force sensor 13 may be used as an auxiliary component for determining deformation information. As shown in fig. 4, the navigation method may perform the following steps by the computing device 10, the surgical instrument 11, the driving mechanism 12 and the force sensor 13 of the navigation system 1:

step S40: a predetermined surgical path is obtained.

Referring to fig. 5, a schematic diagram of an orthopedic operation performed with a surgical instrument according to an embodiment of the present invention is shown. As shown in FIG. 5, the surgical device 11 of the present invention is used by an operator to perform surgery on a patient's surgical site (e.g., bone) according to a previously planned surgical path. The computing device 11 may be configured to locate the position and orientation of the surgical device 11 by detecting the positions of a plurality of the detection markers 140 by the optical detector 15. The detection mark 140 is provided as part of an End-Effector Frame (EF) reference plate. In this embodiment, the positioning unit 14 may further comprise a plurality of detection marks (not shown) provided on the housing 19 as part of the robot base reference plate (Robotic Base Frame, BF). The optical detector 15 detects the position of the robot base reference, the front-end instrument navigation reference plate, and the computing device 10 can calculate the distance between the two reference plates and thereby calculate the position of the tip of the surgical instrument 11.

Referring to fig. 6, a schematic diagram of a surgical site and a planned surgical path displayed by a navigation interface according to an embodiment of the present invention is shown. In more detail, after the registration of the actual space coordinates and the space coordinates including the medical image of the surgical site is completed, a space coordinate transformation matrix is obtained. The space coordinate transformation matrix uses a dynamic reference plate R1 (or R2) near the operation part as a benchmark to transform the actual space coordinate into the space coordinate of the medical image. In an actual surgical operation, the computing device 10 acquires the coordinates of the dynamic reference plate R1 (or R2) near the surgical site and the coordinates of the detection mark 140 adjacent to the surgical instrument 11 by the optical detector 15, and converts the actual spatial coordinates of the surgical instrument 11 into the spatial coordinates of the medical image by the spatial coordinate conversion matrix, and displays the surgical instrument 11 and the medical image of the surgical site on the navigation interface in real time.

In addition, the navigation interface may include a plurality of images from a plurality of angles (e.g., top view, side view, front view, perspective view, etc.) for the user to view the relative relationship between the surgical device 11 and the surgical site, and in each of the images, the navigation system 1 will update the deformation information of the surgical device 11 on the image in real time according to the stress condition, and the detailed steps will be described below.

The user may then plan a surgical path 60 for the intended procedure in the three-dimensional virtual model displayed by display device 16 (e.g., defining a surgical path in terms of one or more vertebral arch nails of the intended surgical site). And, when the planning of the operation path 60 is completed, the computing device 10 may further calculate a virtual axis 61 extending to the external direction of the epidermis of the operation site according to the operation path 60 and display the virtual axis in the navigation interface to indicate the operation position of the user, thereby assisting the user to stably advance along the operation route during the operation.

Step S41: the position and orientation of the surgical instrument are measured by the positioning unit.

Referring back to fig. 2, positioning unit 14 may be directly or indirectly coupled to surgical device 11, such as disposed on adapter 113. Positioning unit 14 may assist in detecting the orientation and position of surgical device 11 relative to the surgical site by any of a number of existing positioning methods, such as optical positioning, electromagnetic positioning, or inertial positioning. Furthermore, positioning unit 14 may include, for example, a plurality of markers for emitting electromagnetic signals, sound waves, heat, or other perceptible signals, and may be mounted on adapter 113 in a particular orientation and angle relative to surgical device 11. In embodiments of the present invention, an optical positioning method may be used, and thus, the positioning unit 14 may include a plurality of detection marks 140. In a preferred embodiment of the present invention, the detection mark 140 is a reflective ball provided on the adapter 113 or a marking device that actively generates a perceptible signal. Also, although not specifically shown, a plurality of detection markers (e.g., on the dynamic reference plates R1, R2 implanted near the surgical site) may be provided near the surgical site, whereby the computing device 11 may simultaneously detect the position and orientation of the surgical instrument 11 relative to the surgical site via the optical detector 15.

Step S42: the force condition of the operating end of the surgical instrument is measured by a force sensor. As previously described, the force sensor 13 may be positioned and secured to the surgical end of the surgical device 11 corresponding to the topography of the surgical device 11 to simultaneously detect forces and magnitudes from all directions laterally of the surgical end 112. In other embodiments, the bending of the working end of the surgical device 11, such as recording the phase difference of the reflected light at different locations, may also be detected by the deformation sensor 17.

Step S43: first deformation information of the surgical instrument due to the stress condition is calculated according to the stress deformation model, and the deformation information here records the displacement lengths of the surgical instrument 11 at different positions, which deviate from the original axis. In other embodiments, the first deformation information of the surgical instrument due to the bending condition may also be calculated according to the stress deformation model.

It should be noted that the stress deformation model may be established, for example, by performing experiments on the surgical device 11 in advance and recording deformation information under different stress magnitudes. Referring to fig. 7, a schematic diagram of deformation information of a surgical device under different stress levels according to an embodiment of the present invention is shown. As shown, when a larger external force F1 is applied to the application end 112 of the surgical device 11, the surgical device 11 will produce a trajectory T1 with a larger amount of deformation, and conversely, when a smaller external force F2 is applied to the application end 112 of the surgical device 11, the surgical device 11 will produce a trajectory T1 with a smaller amount of deformation. Similarly, in other embodiments, the force deformation model may be created, for example, by performing experiments on the surgical device 11 and recording the phase differences of the reflected light at different locations and deformation information thereat.

Therefore, for the difference of the applied external force and the position, or for the reflected light phase difference at different positions, after repeated experiments and recording of deformation information, a stress deformation model can be built and stored in the memory 102. The computing device 10 can calculate the first deformation information when the force sensor 13 detects the forces and magnitudes of the lateral surface of the application end 112 from all directions according to the force deformation model. Alternatively, the computing device 10 may calculate the first deformation information when the deformation sensor 17 detects the bending condition of the operation end of the surgical instrument 11 according to the stress deformation model. As the depth of the procedure is deeper, the deformation of the surgical device 11 may not be visible to the naked eye, and the calculated first deformation information may assist in correcting the position and orientation of the surgical device 11 displayed in the navigation interface in a subsequent step.

Additionally, in some embodiments, the stress deformation model may define the change in the stress-responsive variable of the surgical device 11. Referring to fig. 8, a graph of a change in stress versus variable for a surgical instrument is shown according to an embodiment of the present invention. As shown in the figure, the linear elastic section, the strain hardening section and the necking section of the surgical device 11 can be known from the graph, and the Yield Strength (Yield Strength) and the ultimate Strength (Ultimate Strength) corresponding to the linear elastic section, the strain hardening section and the necking section respectively can be known, and the warning stress range can be designed according to the stress conditions, so as to inform a user that the surgical device 11 is likely to be damaged. In other words, if the set force range is exceeded or the displacement length is deviated, the display device 16 can be used to remind the user that the instrument is at risk of breaking, or the computing device 10 can be used to execute the corresponding risk control program, for example, to forcibly stop the surgical instrument to avoid damaging the vital organs. In a preferred embodiment of the present invention, the warning stress range may be, for example, between the yield strength of the surgical instrument and the limit strength, and the forced stopping stress range may be, for example, between the limit strength and the breaking point, but the present invention is not limited thereto.

Step S44: and calculating the compensation amount according to the first deformation information and the measured position and orientation of the surgical instrument.

Referring back to fig. 6, as shown, the position and orientation information P1 (which may be displayed in the navigation interface) of the surgical instrument without considering the deformation information and the position and orientation information P2 (which may not be displayed in the navigation interface) after considering the deformation information are displayed. Generally, when the deformation information is not considered, since the position and location of the surgical device 11 relative to the surgical site can be detected only by the detection mark 140 after the surgical device 11 goes deep into the surgical site, the computing device 10 can only predict the position and location information P1 of the surgical device 11, and then display the information in the navigation interface, so that the true position of the surgical device 11 is mistakenly indicated as P1 by the user.

However, when the deformation information of the application end 112 of the surgical device 11 is considered, the offset of the surgical device 11 can be known, and the offset can be used as the compensation amount. For example, the offset distance, angle, etc. between the tip of the surgical instrument 11 and the tip of the P2 can be used as the compensation amount, taking the tip of the position and orientation information P1, which is not considered for the deformation of the surgical instrument 11, as a reference point, and the tip of the position and orientation information P2 (not shown in the navigation interface), which is considered for the deformation of the surgical instrument 11, as another reference point. In detail, the calculated offset amount of the surgical instrument 11 may include a topography change amount, a position change amount, and an orientation change amount of the surgical instrument 11.

Step S45: the position and orientation of the surgical instrument are adjusted according to the compensation amount to maintain the surgical instrument on the predetermined surgical path.

In embodiments of the present invention, there are several ways to apply this amount of compensation. For example, in the three-dimensional virtual model, the position and orientation information P1 can be directly corrected according to the compensation amount. Alternatively, in the three-dimensional virtual model, the orientation and position of the surgical site with respect to the surgical instrument 11 may be corrected in accordance with the compensation amount. The other is to directly push the driving mechanism 12 according to the compensation amount without modifying the display interface information, so that the position and the orientation of the surgical instrument 11 relative to the surgical site in the real space are consistent with the information in the navigation interface of the display device 16. Accordingly, the manner in which the compensation amount is applied may be adjusted depending on the type of surgical instrument 11 or the amount of calculation required by the computing device 10, and the present invention is not limited thereto.

In the manner of the third compensation amount application described above, after the correction of the position and orientation information P2 taking into account the deformation information, the computing device 10 may further control the orientation and position of the surgical instrument 11 in real space via the plurality of arms 120 respectively connected to the plurality of actuating units 122 according to this information, thereby assisting the user in stably advancing along the surgical path 60 during the surgical procedure.

Please refer to fig. 1 to 3 again. In some embodiments, the navigation system 1 may also utilize the deformation sensor 17 at the same time. The deformation sensor 17 may be, for example, a curve sensor, which operates by measuring the local curvature along its length and converting the measurement into the shape of a curve. The curve sensor comprises two strips connected at one end. When laid flat, the electrodes in the curved sensor are arranged in a specific manner. However, when the curve sensor is bent, the arrangement of the electrodes may change due to the difference in radius curves. This change is a direct measure of curvature. Detailed models of the curves are derived from a number of displacement measurements taken at different locations along the strip.

In some embodiments, the deformation sensor 17 may also be a flexible sensor strip based on a metal foil, which can be used for directional measurement of bending, including a plurality of strain sensors arranged along the strip-shaped body, and reconstructing the shape of the strip-shaped body by algorithmically integrating the data of the plurality of strain sensors.

The deformation sensor 17 may also be similar to the force sensor 13, except that it may be disposed along the body 114 as shown in fig. 2 and 3, to obtain second deformation information by annularly coating the operative end surface of the surgical device 11.

Thus, as shown in fig. 4, the navigation method further comprises the steps of:

step S46: and measuring second deformation information of the surgical instrument due to the stress condition in real time.

Step S47: and calculating a compensation amount according to the first deformation information and/or the second deformation information and the measured position and orientation of the surgical instrument, and returning to the step S45, and adjusting the position and orientation of the surgical instrument according to the compensation amount so as to maintain the surgical instrument on a preset surgical path.

In other words, in the present embodiment, when the force sensor 13 and the deformation sensor 17 are adopted at the same time, the user can choose to adopt one of the first deformation information and the second deformation information to obtain the deformation information according to the requirement, or adopt the first deformation information and the second deformation information at the same time, so as to improve the accuracy of the operation.

Advantageous effects of the embodiment

The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the claims, so that all equivalent technical changes made by the application of the present invention and the accompanying drawings are included in the scope of the claims.

Claims

1. A method of navigating a surgical instrument, the method comprising:

setting a predetermined operation path;

measuring the position and the orientation of a surgical instrument by a positioning unit, wherein the surgical instrument is provided with a transmission mechanism and an operation end;

measuring a force or bending condition of the operative end of the surgical instrument by means of a sensor;

calculating first deformation information of the surgical instrument due to the stress condition or the bending condition according to a stress deformation model;

calculating a compensation amount according to the first deformation information and the measured position and the measured azimuth of the surgical instrument; and

the position and the orientation of the surgical instrument are adjusted in accordance with the compensation amount to maintain the surgical instrument on the predetermined surgical path.

2. The method of navigating a surgical instrument according to claim 1, wherein the positioning unit includes a plurality of detection marks, and wherein the method of navigating includes detecting positions of a plurality of the detection marks by an optical detector to position the position and the orientation of the surgical instrument.

3. The method of navigating a surgical instrument according to claim 1, further comprising adjusting the position and the orientation of the surgical instrument according to the compensation amount by a plurality of arms respectively connected to a plurality of actuation units.

4. The method of navigating a surgical instrument according to claim 1, further comprising displaying the first deformation information on a navigation interface for navigating the surgical instrument.

5. The method of navigating a surgical instrument according to claim 1, wherein the surgical instrument includes a body disposed between the transmission mechanism and the applicator end.

6. The method of navigating a surgical instrument according to claim 5, wherein the force-to-deflection model defines a force-to-deflection curve of the subject.

7. The method of navigating a surgical instrument according to claim 5, wherein the sensor is a sheet-like force sensor that is overmolded and secured to the body adjacent the applicator end.

8. The method of navigating a surgical instrument of claim 5, wherein said sensor is a fiber optic shape sensor (optical fiber shape sensor) disposed along said body.

9. A navigation system for a surgical instrument, the navigation system comprising:

a computing device including a processor and a memory;

a surgical instrument provided with a sensor electrically connected with the computing device and provided with a transmission mechanism and an operation end; and

a drive mechanism coupled to the transmission mechanism and controlled by the computing device to drive the surgical instrument;

wherein the processor is configured to:

obtaining a predetermined operation path;

measuring the position and orientation of the surgical instrument by a positioning unit;

measuring a force or bending condition of the surgical end of the surgical instrument by the sensor;

10. The navigation system of claim 9, wherein the positioning unit includes a plurality of detection markers, and the computing device is further configured to position the position and the orientation of the surgical instrument by an optical detector detecting the positions of a plurality of the detection markers.

11. The navigation system of a surgical instrument of claim 9, further comprising adjusting the position and the orientation of the surgical instrument according to the compensation amount by a plurality of arms respectively coupled to a plurality of actuation units.

12. The surgical instrument navigation system of claim 9, further comprising a navigation interface electrically coupled to the computing device configured to navigate the surgical instrument and display the first deformation information.

13. The surgical instrument navigation system of claim 9, wherein the surgical instrument includes a body disposed between the transmission mechanism and the applicator end.

14. The surgical instrument navigation system of claim 13, wherein the force-to-deformation model defines a stress-to-variable variation curve of the subject.

15. The surgical instrument navigation system of claim 13, wherein the sensor is a sheet-like force sensor that is overmolded and secured to the body adjacent the applicator end.

16. The surgical instrument navigation system of claim 13, wherein the sensor is a fiber optic shape sensor disposed along the body.