CN209826970U - Surgical operation auxiliary system - Google Patents

Abstract

The utility model provides a surgery operation auxiliary system, surgery operation auxiliary system contains: the system comprises a host, a mechanical arm, input equipment, display equipment, a guide device and the like; the positioning assisting device is used for assisting positioning in neurosurgery, shortens operation time, reduces operation risks, improves manual compliance of a mechanical arm and reduces spatial position obstruction of a user.

Description

Surgical operation auxiliary system

Technical Field

The utility model belongs to the technical field of the medical equipment technique and specifically relates to a surgery operation auxiliary system.

Background

The stereotactic technique can help doctors to use more scientific and reasonable positioning operation to enter the way, and has wide application in deep brain stimulation, stereotactic electroencephalogram electrode implantation for epileptic focus positioning and other operations. The method of stereotactic includes a stereotactic frame and a stereotactic surgical robot. In both methods, the spatial coordinates of each position of the head are obtained through three-dimensional reconstruction by pre-scanning the head CT, a doctor designs an access under the coordinate system, and then accurate puncture path guidance is realized according to the coordinates in the operation.

With the progress and maturity of mechanical arm technology, robot-assisted stereotactic surgery has become more and more popular, and robot-assisted neurosurgery navigation systems are introduced by various companies, and existing products such as ROSA, REMEbot and the like all adopt 6-axis mechanical arms as structures for guiding movement, so as to provide direction guidance for doctors. The mechanical arm commonly used by the existing neurosurgical navigation system is often subjected to two problems in the dragging process, namely, the manual dragging machine is mainly guided by manpower, the follow-up property of each joint is poor, the mechanical arm is very heavy and is not easy to operate, and sometimes the dangerous condition that a guide probe at the front end of the mechanical arm collides with or even damages the head of a patient occurs due to over-exertion or poor control force; another problem is that in the operation process, the requirement of adjusting the posture of the mechanical arm under the condition of keeping the end part of the mechanical arm fixed cannot be met, the end part of the 6-shaft mechanical arm only has a limited number of spatial position solutions, that is, under the premise of keeping the end part of the 6-shaft mechanical arm fixed, other arm joints of the 6-shaft mechanical arm only have a limited number of discontinuous postures in the space to keep the posture of the end part unchanged, if the positions of other arm joints need to be changed, the end part is inevitably moved, the requirement of keeping the posture of the end part of the mechanical arm unchanged cannot be met, meanwhile, the mechanical arm is large in size and cannot be moved after being fixed in position, so that a surgeon often needs to operate in an awkward posture, the operation difficulty is increased, the physical consumption of the surgeon is increased, the operation efficiency is reduced, and the operation risk of patients is.

Disclosure of Invention

In view of this, in order to solve at least one of the problems in the prior art, the inventor proposes a surgical operation assistance system, which employs a multi-axis robot arm including a plurality of sensors, has good dragging following performance, and realizes position and posture adjustment of other joints and arm segments in cooperation when touched while keeping the spatial position of the end portion still by means of the multi-axis robot arm, thereby facilitating the operation of a doctor.

In one aspect, the present invention provides a surgical procedure assistance system, comprising:

the host computer comprises a computer, a controller and an interface and is used for receiving data, controlling the motion of the mechanical arm and outputting a calculation result;

the robot arm comprises a plurality of arm sections and joints and has at least 7 degrees of freedom, and can adjust the positions and postures of the joints and other arm sections under the condition that the spatial positions of the end parts (tail end arm sections) of the robot arm are not changed;

an input device for receiving a user's command;

and the display equipment is used for displaying the calculation result and the software interface of the host.

The input device may be any suitable device to allow a user to import commands and data to the host, such as a foot pedal, a touch pad, a stylus, a touch screen, a joystick, a trackball, a wireless mouse, a keyboard, a voice input port, or a combination thereof. The display device may be any suitable device to present the software interface and virtual three-dimensional imagery to a user, such as a laptop, tablet, smartphone, liquid crystal display, touch screen, or a combination thereof.

The surgical operation auxiliary system of the utility model can also contain a flange which is arranged at the end part of the mechanical arm and is used for coupling a guiding device, a positioning probe, a surgical instrument, a scanning device and the like. The flange is not essential and may be omitted in case the guiding means, the tracking means, etc. may be attached directly to the end of the robot arm.

The utility model discloses a surgery operation auxiliary system still contains guider, and it is used for establishing the motion passageway for surgical instruments, supplementary surgical instruments location and orientation, and guider contains the through-hole, and for surgical instruments moves in certain direction and provides supplementary, guider can disinfect when necessary to satisfy the operation requirement.

The utility model discloses a surgical operation auxiliary system still contains surgical instruments, and surgical instruments can be seal wire, drill bit, electrode etc. and surgical instruments passes through-hole realization three-dimensional space's of guider location and orientation.

The utility model discloses a surgery operation auxiliary system still contains the location probe, and the location probe is used for carrying out position mark to the mark point, for example has installed the mark point at the bone nail of skull or health, because the relative spatial relationship of the relative arm tip of location probe is fixed to can confirm and rectify the position point based on the coordinate system that arm self confirmed, accomplish the registration then.

The surgical operation auxiliary system of the utility model can also comprise a scanning module to acquire images of a target space (a part to be operated) and generate a three-dimensional structure, and under the condition, the scanning module can replace a positioning probe. The scanning module can be moved to a designated position by the robotic arm based on a known fixed position relative to the end of the robotic arm and comprises different components:

in the first scheme, the scanning module comprises an image acquisition device, and the relative position relationship between the image acquisition device and the mechanical arm is known, namely the coordinates of the image acquisition device in a basic coordinate system of the mechanical arm can be directly obtained without measurement; the image acquisition device can be a camera, such as a monocular camera, a binocular camera and the like, the mechanical arm drives the image acquisition device to acquire images at different positions, and three-dimensional information of a target space can be acquired through calculation;

in the second scheme, the scanning module comprises a light emitting component and an image acquiring device, the light emitting component can emit light rays such as infrared rays to a target space, the image acquiring device acquires images, and after a sufficient number of data of characteristic points are acquired, the calculation control center calibrates the coordinates of the target space according to the acquired information;

in the third scheme, the scanning module comprises a projection component and an image acquisition device, the projection module can transmit a specific coded image to a target space and acquire the image through the image acquisition device, and a precise three-dimensional structure of the target space is obtained through a corresponding decoding algorithm and then is registered. The projection assembly of the scanning module and the image acquisition device have a predetermined relative spatial relationship. In one embodiment, the projection module of the surgical robotic system of the present invention comprises a light source, a lens set, a Digital Micromirror Device (Digital Micromirror Device) and a control module, and the image capturing Device is a camera.

The utility model discloses a surgical robot system still can contain the tracking module, can track and obtain the arm tip, the flange, guider, the position probe, the position of scanning module etc, carry out direct or indirect accurate positioning to the position of direction module, track the spatial position when scanning module acquires the image, can convert the coordinate system of the image that scanning module obtained, thereby found three-dimensional structure, make the spatial positioning to arm tip, the flange, guider, the position probe, scanning module etc. no longer rely on arm self, need reference mark and arm tip, the flange, guider, the position probe, scanning module etc. have the fixed relation of connection of relative position under this condition, the constitution of tracking module is as before. The tracking module may be implemented in a number of ways:

in the first case, the tracking module is an image pickup device with tracking capability, such as a binocular camera, and tracks the position of a reference mark, the reference mark includes a plurality of light-traceable markers, and the light-traceable markers have a special spatial arrangement structure to uniquely determine the spatial coordinates of the reference mark, such as a self-luminous marker or an angular point, etc., the reference mark has a fixed positional relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, etc., and can be fixedly or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, etc. is determined by the reference mark, in this case, the tracking module can not only track the reference mark, but also acquire a three-dimensional image within a certain range near the end of the mechanical arm;

in the second case, the tracking module is an optical tracking device, the optical tracking device generally includes a marker that can be tracked by light, an image capturing unit and a light emitting unit, the light is preferably infrared light, the reference marker includes a plurality of markers, and the markers have a special spatial arrangement structure capable of uniquely determining the spatial coordinates of the reference marker, the markers may be in various forms, such as a reflective sphere, the reference marker has a fixed positional relationship with the end of the robot arm, the flange, the guiding device, the positioning probe, the scanning module, and the like, and can be fixedly connected or detachably connected, and then the position of the end of the robot arm, the flange, the guiding device, the positioning probe, the scanning module, and the like is determined by the reference marker;

in the third case, the tracking module is an electromagnetic tracking device, the electromagnetic tracking device determines the position of the magnetic positioning marker through the influence of the magnetic positioning marker on an electromagnetic field in the magnetic field, the magnetic positioning marker forms a reference mark, the reference mark has a fixed position relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like, and can be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like is determined through the reference mark.

In one embodiment, the robotic arm of the surgical assistance system of the present invention has 7 degrees of freedom, each joint having a sensor and a motor; preferably, the sensor is a torque sensor.

The utility model discloses a surgery operation auxiliary system's arm can sense the power that receives, and this characteristic can be realized through the mode of difference as long as can realize this function. In one example, this may be achieved by providing a sensor at each joint of the robotic arm; in another example, each joint of the mechanical arm is provided with a torque sensor and a motor, the magnitude and the direction of external force applied to each arm section can be sensed, and the host computer can control the motion of each joint. In another scheme, the outermost layer of the mechanical arm is a pressure sensing layer which can sense the external pressure and feed the stress back to a host, for example, a force sensing film is distributed with a plurality of force sensing units, each force sensing unit can independently record the force and has a unique coordinate point, the force sensing units sense the force and transmit the force to the host, the host sends a command to a motor according to the stress condition of the mechanical arm, and the mechanical arm moves along with the motion until the external force is zero. In another scheme, the mechanical arm only comprises a motor at the joint, and the stress condition of the joint can be calculated through the current change of the motor, so that the adaptability adjustment is performed.

The utility model discloses an among the surgery operation auxiliary system, input device and display device can with host computer fixed connection, also can realize the communication through wired or wireless and connect, the distributed distribution, for example adopt wiFi or bluetooth to realize the communication, display device and input device exist as independent subassembly promptly, display device and input device can be same subassembly, for example touch-sensitive screen, removal panel computer, smart mobile phone etc..

In a preferred embodiment, the utility model discloses such control can be realized to the arm to the host computer of surgery operation auxiliary system, and the arm tip remains unchanged on required position, and the host computer when the sensor sensing to external force, recalculates the new gesture of adaptation external force back arm to instruct the arm to carry out quick adaptability adjustment.

In another preferred embodiment, the surgical auxiliary system of the present invention may include or be used in combination with an existing surgical navigation device, that is, data communication is performed through an interface of the host, and the surgical navigation device provides the surgical auxiliary system with coordinate information of the anatomical mark point and monitors the influence of the surgical site.

The surgical operation auxiliary system of the utility model has the following multiple motion control modes:

firstly, an active motion mode: in the mode, the host computer sends a motion instruction to the mechanical arm according to a planned operation scheme, the motor is actuated to adjust the motion of the mechanical arm according to the instruction, and the mechanical arm is emergently braked and gives an alarm prompt under the condition of being blocked by external force; the active motion mode is mainly used for automatically returning the mechanical arm to an initial position, automatically moving the mechanical arm to an operation planning position and the like;

II, driven motion mode: in the mode, an operator can drag the mechanical arm to position, the host computer sends out an auxiliary motion instruction according to the stress after receiving the stress sensed by the mechanical arm, and the motor is actuated to promote the mechanical arm to move according to the dragging expectation; the driven motion mode is mainly used for the registration process;

third, end limited mode: in the mode, the end part of the mechanical arm can only move on a planned axis or in a plane track or does cone-like motion by taking a fixed point as a center, and when the mechanical arm receives external force, the host recalculates a new posture of the mechanical arm after the mechanical arm adapts to the external force and commands the machine to perform quick adaptive adjustment;

fourthly, end fixing mode: the end of the mechanical arm is kept unchanged at a required position, and the position and the posture of the joint and other arm joints can be adjusted.

In another aspect, the present invention further provides a method for using the surgical assistant system, including:

A) receiving image data by using a surgical operation auxiliary system and carrying out visual display, wherein an operation scheme can be planned in the image;

B) fixing the surgical auxiliary system to a proper position of an operating room for registration;

C) and adjusting the motion mode of the surgical auxiliary system and executing according to the preset operation plan.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of the surgical assistant system of the present invention;

fig. 2 is a schematic view of an embodiment of the present invention;

fig. 3 is a schematic structural view of a robotic arm connected to a scanning module via a flange according to an embodiment of the present invention;

FIG. 4 is a schematic view of the surgical assistance system of the present invention with a positioning probe mounted on the end of the arm;

FIG. 5 is a schematic view of an embodiment of a positioning probe according to the present invention;

FIG. 6 is a schematic view of a surgical assistance system of one embodiment of the present invention with a guide attached to the end of the robotic arm;

fig. 7 is a schematic view of an embodiment of the guide device of the present invention;

FIG. 8 is another schematic view of the surgical assistant system of the present invention;

FIG. 9 is a schematic view of one embodiment of the surgical assistance system of FIG. 8 with the end of the robotic arm fitted with a guide;

FIG. 10 is a schematic view of two examples of reference markers of the surgical assistance system of the present invention;

fig. 11 is a schematic view of a portion of a force sensing membrane in an embodiment of a surgical assistance system of the present invention.

Icon:

100-main unit, 101-movable bottom plate, 102-main unit case, 103-computer and controller, 1011-wheel, 1012-lifting device, 104-armrest; 200-a robotic arm; 300-display device (which may have input functionality); 400-an input device; 500-a flange; 600-guide, 601-first fitting, 602-second fitting, 6021-through hole; 700-scanning module, 800-positioning probe, 900-tracking device, 901-camera, 902-camera; 201-base, 202-first joint, 203-first arm section, 204-second joint, 205-second arm section, 206-third joint, 207-third arm section, 208-fourth joint, 209-fourth arm section, 210-fifth joint, 211-fifth arm section, 212-sixth joint, 213-sixth arm section, 214-seventh joint, 215-seventh arm section (arm end); 710-projection assembly, 720-image acquisition device.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The present invention provides a surgical assistance system, with reference to fig. 1, which generally comprises: a mainframe 100, a robot arm 200, a display device 300, an input device 400, a flange 500, a guide 600, and a scanning module 700 and/or a positioning probe 800; the mechanical arm 200 has at least 7 degrees of freedom, when the mechanical arm has 7 degrees of freedom and more than 7 degrees of freedom, under the condition that the end part of the mechanical arm is fixed, any arm joint moves to any position, and other arm joints have continuous spatial position solutions, namely, under the condition that the end part of the mechanical arm with 7 shafts is not moved, the other arm joints can be freely dragged.

The host 100 comprises a mobile backplane 101, a host chassis 102, a computer and a controller 103; the computer and controller 103 is communicatively coupled to the display device 300, the input device 400, other hospital equipment (e.g., MRI equipment or CT equipment), or a database. The display device 300 is used to display three-dimensional images and software interfaces generated by the computer and controller 103, for example, the display device 300 is a liquid crystal display, and in one embodiment, the display device 300 is a touch screen, and the touch screen enables the display device 300 to have both display and input functions, and in this case, the input device 400 may be omitted. Input device 400 is a common input device: such as a foot pedal, touch pad, stylus, touch screen, joystick, trackball, wireless mouse, keyboard, voice input port, or a combination thereof, that allows a user to import commands and data to the host. The flange 500 is mounted to the end of the robot arm 200, and the guide 600, the scanning module 700, the positioning probe 800, etc. are coupled to the robot arm 200 through the flange 500, and in some cases, the flange 500 may be omitted, i.e., the guide 600, the scanning module 700, the positioning probe 800 are directly coupled to the end of the robot arm. The guide 600 contains a through-hole through which other medical instruments, such as guide wires, drill bits, electrodes, etc., can be positioned and oriented. The guide 600 may be sterilized prior to use, as desired.

Referring to fig. 2, a schematic diagram of a surgical procedure assistance system according to an embodiment of the present invention is shown showing a movable base plate 101, a mainframe box 102, a robot arm 200, a display device 300 (with input function), not shown with input device pedals; the movable bottom plate 101 is provided with four wheels 1011 and a stopping structure, a user pushes the main machine 100 to move through the handrails 104 on the main machine case 102, the stopping structure is opened after the main machine reaches a proper position in an operating room, then the main machine is lifted through the lifting device 1012, so that the wheels 1011 leave the ground, the main machine 100 is supported and fixed only by the lifting device 1012, and the position change of the main machine 100 in the operating process is prevented; the computer and controller 103 are located inside the host chassis 102. The display device 300 (with input function) may communicate with the computer and controller 103; in one embodiment, the display device 300 (with input capability) is connected to the computer and controller 103 via wireless connections, including WiFi, bluetooth, etc.; the display device 300 may be an existing device such as a touch screen, a mobile tablet, a smart phone, and the like.

Referring to fig. 3, describing in detail a state where the robot arm 200 according to an embodiment of the present invention is connected to the scan module 700 through the flange 500, the robot arm 200 includes a base 201, a first joint 202, a first arm section 203, a second joint 204, a second arm section 205, a third joint 206, a third arm section 207, a fourth joint 208, a fourth arm section 209, a fifth joint 210, a fifth arm section 211, a sixth joint 212, a sixth arm section 213, a seventh joint 214, a seventh arm section 215 (a robot arm end portion); the base 201 is integrated within the host housing 102 and each joint contains a motor and a force sensor, preferably a torque sensor. The scanning module 700 comprises a projection module 710 and an image acquisition device 720, the projection module can transmit a specific coded image to a target space and acquire the image through the image acquisition device, and a precise three-dimensional structure of the target space is obtained through a corresponding decoding algorithm and then is registered; the projection assembly 710 comprises a light source, a lens group, a digital micromirror device and a control module, and the image capturing device 720 is a camera; the positions of the projection assembly 710 and the image capture device 720 may be interchanged, so long as their relative positions are fixed. In some cases, the robotic arm 200 of this embodiment contains only a motor, and the force experienced can be sensed by the magnitude of the current in the motor to make the corresponding adjustment.

Referring to fig. 4, a schematic diagram of a surgical assistance system using a positioning probe according to an embodiment of the present invention is shown, including a movable base plate 101, a mainframe housing 102, a robot arm 200, a display device 300 (having an input function), and a positioning probe 800; the movable bottom plate 101 is provided with four wheels 1011 and a stopping structure, a user pushes the main machine 100 to move through the handrails 104 on the main machine case 102, the stopping structure is opened after the main machine reaches a proper position in an operating room, then the main machine is lifted through the lifting device 1012, so that the wheels 1011 leave the ground, the main machine 100 is supported and fixed only by the lifting device 1012, and the position change of the main machine 100 in the operating process is prevented; the computer and controller 103 are located inside the host chassis 102. The display device 300 (with input function) may communicate with the computer and controller 103; in one embodiment, the display device 300 (with input capability) is connected to the computer and controller 103 via wireless connections, including WiFi, bluetooth, etc.; the display device 300 (with input function) may be an existing device such as a touch screen, a mobile tablet, a smart phone, and the like. A positioning probe 800 is attached directly to the end of the robot arm, one specific configuration of which is shown in fig. 5.

Referring to fig. 6 and 7, a guide 600 of an embodiment of the surgical assistance system of the present invention is described, and fig. 6 shows the guide 600 in use, mounted at the end of the robotic arm 200. Fig. 7 shows an enlarged view and a broken-away view of the guide 600, the guide 600 being composed of a first fitting 601 and a second fitting 602 which can be assembled, the second fitting 602 having a through hole 6021, the through hole 6021 being capable of having different diameters to match different surgical instruments. Guide 600 may have a variety of configurations and shapes, so long as it assists in orienting and positioning surgical instruments.

The surgical assistance system of the present invention may further include a tracking module, and referring to fig. 8, the system includes a main body 100, a robot arm 200, a display device 300, an input device 400, a flange 500, a guide device 600, a scanning module 700 and/or a positioning probe 800, and a tracking device 900. The tracking device 900 can track and obtain the positions of the end 215, the flange 500, the guide device 600, the positioning probe 800, the scanning module 700, etc. of the robot arm by using the reference marks, so as to perform direct or indirect accurate positioning on the positions of the end 215, the flange 500, the guide device 600, the positioning probe 800, the scanning module 700, etc., and convert the coordinate system of the image obtained by the scanning module after tracking the spatial position when the scanning module 700 obtains the image, thereby constructing the three-dimensional structure. The tracking module may have multiple components, and the multiple components may be used separately or simultaneously:

in the first case, the tracking module is an image pickup device with tracking capability, such as a binocular camera, and tracks the position of a reference mark, the reference mark may be composed of a light-traceable marker, the light-traceable marker is, for example, a self-luminous marker or an angular point, and the reference mark has a fixed positional relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, and the like, and may be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, and the like is determined by the reference mark;

in the second case, the tracking module is an optical tracking device, the optical tracking device generally includes a marker that can be tracked by light, a camera unit and a light emitting unit, the light emitting unit preferably emits infrared rays, the marker constitutes a reference marker, the marker can be in various forms, such as a reflective ball, the reference marker has a fixed positional relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, and the like, and can be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module, and the like is determined by the reference marker;

in the third case, the tracking module is an electromagnetic tracking device, the electromagnetic tracking device determines the position of the magnetic positioning marker through the influence of the magnetic positioning marker on an electromagnetic field in the magnetic field, the magnetic positioning marker forms a reference mark, the reference mark has a fixed position relationship with the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like, and can be fixedly connected or detachably connected, and then the position of the end of the mechanical arm, the flange, the guiding device, the positioning probe, the scanning module and the like is determined through the reference mark.

The tracking module tracks through a reference mark, the reference mark comprises a plurality of markers capable of being tracked, schematic diagrams of two examples of the reference mark are shown in fig. 10, the reference mark 910 is a reference mark used in cooperation with the optical tracking device and comprises four spherical markers 9101 capable of reflecting infrared rays, the reference mark 910 can be connected with the end portion 215 of the mechanical arm, the flange 500, the guiding device 600, the positioning probe 800, the scanning module 700 and the like, the spherical markers 9101 reflect infrared rays emitted by a light emitting unit and are collected by an image pickup unit, so that the position of the reference mark 910 can be determined, and then the spatial positions of the end portion 215 of the mechanical arm, the flange 500, the guiding device 600, the positioning probe 800 and the scanning module 700 can be obtained. Reference mark 920 contains four corner points 9201, it is suitable for using with binocular camera, refer to fig. 9, show the schematic diagram that contains the tracking device 900 of an embodiment of the surgical operation assistance system of the present invention, wherein show the state of installing the guiding device 600, the guiding device connects reference mark 920 (not shown), in the use, track reference mark 920 through the cameras 901 and 902 of tracking device 900, can obtain the spatial position of reference mark 920 and guiding device 600, guiding device 600 also can be replaced by positioning probe 800 or scanning module 700, all can be through the mode of connecting reference mark 920 to determine its spatial position.

In one embodiment, the outermost layer of the robotic arm in the surgical assistance system of the present invention is a force sensing membrane. Referring to fig. 11, the force sensing film is composed of a plurality of sensing units, each sensing unit has a unique determined position on the mechanical arm and can sense the received force independently, the received force can be fed back to the host computer when external force is received, and the host computer issues a motion instruction to the mechanical arm according to the stress information, so that the mechanical arm is matched with a user to drag, and the dragging process is smoother and more labor-saving.

In a preferred embodiment, the main body 100 of the surgical assistance system of the present invention controls the motion of the robot arm 200 through the software loaded therein, so that the robot arm 200 can realize a plurality of different motion modes under the control of the main body 100, including:

firstly, an active motion mode: in this mode, the main machine 100 sends a motion instruction to the mechanical arm 200 according to a planned surgical plan or input of a user, the motor is actuated to adjust the motion of the mechanical arm 200 according to the instruction, and the mechanical arm can be braked emergently and send a prompt under the condition of being blocked by external force; the active motion mode is mainly used for automatically returning to an initial position of the mechanical arm, automatically moving to a part of operation planning positions and the like;

II, driven motion mode: in this mode, an operator can drag the mechanical arm 200 to position, the host computer sends out an auxiliary motion instruction according to the magnitude of stress after receiving the stress sensed by the mechanical arm, and actuates the motor to promote the mechanical arm 200 to move according to the dragging gesture; when the external force disappears, the host computer responds to and stops the displacement of the mechanical arm rapidly, and when the external force changes the direction, the host computer sends out a new instruction, so that the mechanical arm responds to the external force and moves towards a new direction;

third, end limited mode: in this mode, the end of the mechanical arm (the seventh arm section 215) can only move on a planned axis or in a plane track, or do cone-like motion with a fixed point as a center, and when the mechanical arm senses an external force, the host recalculates a new posture of the mechanical arm adapted to the external force, and commands the mechanical arm to perform rapid adaptive adjustment.

Fourthly, end fixing mode: the end part of the mechanical arm is kept unchanged at a required position, the joint and other arm joints can be subjected to active or passive position posture adjustment, when the mechanical arm receives external force, the host recalculates a new posture of the mechanical arm after adapting to the external force, and commands the machine to carry out quick adaptive adjustment, so that in the operation process, a user can easily change the position posture of the mechanical arm when being blocked by the mechanical arm, and the operation of the user is facilitated.

In one embodiment, the surgical assistance system of the present invention comprises a positioning probe, and referring to fig. 4 and 5, fig. 4 shows a schematic view of the positioning probe 800 mounted on the end of the robotic arm 200, and fig. 5 shows an enlarged structure of the positioning probe 800. The surgical assistance system of this embodiment is used in one specific example of the procedure as follows:

A) a main machine 100 of the surgical operation auxiliary system receives medical image data such as magnetic resonance image data, functional magnetic resonance image data, CT image data, phase contrast magnetic resonance angiography (PC-MRA) data and the like through an interface, preferably, the format of the operation data is unified, then, software 'extranervous robot planning software' pre-loaded in the main machine 100 constructs a three-dimensional model of an area to be operated, wherein blood vessels are displayed in the three-dimensional model, and a user plans an operation scheme according to a matched planning guide to determine the advancing path of an operation instrument;

B) pushing the armrest 104 to fix the main frame 100 in a proper position, sending a command by a user through an input device 400 (such as a mouse or a keyboard) to enable the mechanical arm 200 to enter a driven motion mode, connecting a positioning probe 800 to a flange 500 mounted at the end 215 of the mechanical arm by the user, manually dragging the mechanical arm 200 to enable the positioning probe 800 to touch an anatomical feature point or a feature structure point with visible images and anatomies, inputting the coordinates of the patient into the main frame 100, and unifying the coordinate system of the patient and the coordinate system of the mechanical arm 200 through calculation to realize registration;

C) after the registration is completed, the movement mode of the surgical operation auxiliary system is adjusted, subsequent operations are performed, and in the process of placing the deep electrode (segg), a user replaces the positioning probe 800 connected with the flange 500 with the guide device 600, the host 100 sends an instruction to the mechanical arm 200 according to the operation plan planned in the step a, the mechanical arm 200 moves to a specified position, the user determines the direction and the position of the drill bit through the guide device 600, installs surgical accessories such as a stopper and the like according to the parameters provided by the supernatural robot planning software, then opens a hole at a target part (for example, the head), and then replaces the drill bit with other surgical instruments such as a guide wire or an electrode, and advances along the through hole of the guide device to reach the specified position. If the operation is a multi-step operation, the mechanical arm can be dragged to a required position by using a driven mode according to a preset operation plan, then the mechanical arm enters an end fixing mode, the step is completed, and the operation is repeated for multiple times until all planning steps are completed.

In another embodiment, referring to fig. 3, the surgical assistance system of the present invention further comprises a scanning module 700 comprising a projection assembly 710 and an image acquisition device 720; preferably, the projection assembly comprises an optical engine, a lens set, a Digital micro mirror Device (dmd) and a control module, and the image capturing Device 720 is a binocular camera. The surgical assistance system of this embodiment is used in one specific surgical example as follows:

A) a main machine 100 of the surgical operation auxiliary system receives medical image data such as magnetic resonance image data, functional magnetic resonance image data, CT image data, phase contrast magnetic resonance angiography (PC-MRA) data and the like through an interface, preferably, the format of the operation data is unified, then, software 'extranervous robot planning software' pre-loaded in the main machine 100 constructs a three-dimensional model of an area to be operated, wherein blood vessels are displayed in the three-dimensional model, and a user plans an operation scheme according to a matched planning guide to determine the advancing path of an operation instrument;

B) referring to fig. 2 and 3, the armrest 104 is pushed, the main frame 100 is fixed in position, a user sends an instruction through the display device 300 (with an input function) to make the mechanical arm 200 enter a driven motion mode, the user connects the scanning module 700 to the flange 500 installed at the end 215 of the mechanical arm, the projection module 710 projects a specific coded image to a target area, the image acquisition device (camera) 720 acquires an image, and calculates the three-dimensional structure of the target area according to the decoding of the coded image, preferably, the software of the main frame 100 can control the mechanical arm 200 to automatically perform position and posture adjustment according to the need of acquiring the image, and after acquiring data for multiple times, a satisfactory three-dimensional structure is obtained, and then the three-dimensional structure of the operation area is registered with the three-dimensional model in step a;

C) after the registration is completed, the movement mode of the surgical operation auxiliary system is adjusted, the operation is continued, during the process of placing the deep electrode, the user replaces the scanning accessory 700 connected with the flange 500 with the guide device 600, the host 100 sends an instruction to the mechanical arm 200 according to the operation plan planned in the step a, the mechanical arm 200 moves to a specified position, the user determines the direction and the position of the drill bit through the guide device 600, installs the surgical accessories such as a stopper and the like according to the parameters provided by the supernatural robot planning software, then opens a hole at the target part (for example, the head), and then replaces the drill bit with other surgical instruments such as a guide wire or an electrode, and the drill bit advances along the through hole of the guide device to reach the specified position. If the operation is a multi-step operation, the mechanical arm can be dragged to a required position by using a driven mode according to a preset operation plan, then the mechanical arm enters an end fixing mode, the step is completed, and the operation is repeated for multiple times until all planning steps are completed.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (11)

1. A surgical assistance system, comprising:

the host computer comprises a computer, a controller and an interface and is used for receiving data, controlling the motion of the mechanical arm and outputting a calculation result;

the mechanical arm comprises a plurality of arm sections and joints and has at least 7 degrees of freedom, and the position and the posture of the joints and other arm sections can be adjusted under the condition that the spatial position of the end part of the mechanical arm is not changed;

an input device for receiving a user's command;

and the display equipment is used for displaying the calculation result and the software interface of the host.

2. A surgical assistance system as claimed in claim 1, further comprising a guide for assisting in the positioning and orientation of a surgical instrument.

3. The surgical assistance system of claim 2, further comprising a positioning probe.

4. A surgical assistance system as claimed in claim 2, further comprising a scanning module comprising an image acquisition device; and/or the scanning module comprises a light emitting component and an image acquisition device; and/or the scanning module comprises a projection assembly and an image acquisition device.

5. The system of claim 4, wherein the projection assembly comprises a light source, a lens assembly, a digital micromirror element, and a control module.

6. A surgical assistance system as claimed in claim 5 wherein said robotic arm has 7 degrees of freedom.

7. A surgical assistance system according to any one of claims 1 to 6 further comprising a tracking module.

8. A surgical assistance system according to claim 7 wherein the tracking module is an image acquisition device; and/or the tracking module is an optical tracking device; and/or the tracking module is an electromagnetic tracking device.

9. The surgical assistance system of claim 1 wherein the robotic arm is configured to sense the force experienced.

10. A surgical assistance system as claimed in claim 9 wherein each joint of said robotic arm has a sensor and a motor; and/or the outermost layer of the mechanical arm is a pressure sensing layer which can sense the received force; and/or the mechanical arm calculates the force received according to the current change of the motor.

11. A surgical assistance system according to any one of claims 1 to 6 or 8 to 10 wherein there are a plurality of motion control modes including:

firstly, an active motion mode: in the mode, the host computer sends a motion instruction to the mechanical arm according to a planned operation scheme, the motor is actuated to adjust the motion of the mechanical arm according to the instruction, and the mechanical arm is emergently braked and prompted under the condition of being blocked by external force;

II, driven motion mode: in the mode, an operator can drag the mechanical arm to position, the host computer sends out an auxiliary motion instruction according to the stress after receiving the stress sensed by the mechanical arm, and the motor is actuated to promote the mechanical arm to move according to the dragging expectation;

third, end limited mode: in the mode, the end part of the mechanical arm can only move on a planned axis or in a plane track or does cone-like motion by taking a fixed point as a center, and when the mechanical arm receives external force, the host recalculates a new posture of the mechanical arm after the mechanical arm adapts to the external force and commands the machine to perform quick adaptive adjustment;

fourthly, end fixing mode: the end of the mechanical arm is kept unchanged at a required position, and the position and the posture of the joint and other arm joints can be adjusted.