CN210582637U

CN210582637U - Operation positioning assembly and magnetic resonance compatible operation navigation system

Info

Publication number: CN210582637U
Application number: CN201920648358.3U
Authority: CN
Inventors: 何筱峰; 宁益华; 罗智垚
Original assignee: Individual
Current assignee: Jingyu Medical Technology Suzhou Co ltd
Priority date: 2019-03-01
Filing date: 2019-05-08
Publication date: 2020-05-22
Anticipated expiration: 2029-05-08
Also published as: CN111631815A

Abstract

The utility model relates to a positioning component and magnetic resonance compatible operation navigation, this positioning component and magnetic resonance compatible operation navigation move on two degrees of freedom at least because its support frame can patient health expectation position relatively to make the transform that this positioning component that operates can realize two at least degrees of freedom, help reducing the operation and implement the degree of difficulty. Additionally, the utility model discloses a coil and the magnetic resonance system that another kind of operation locating component through set up the production magnetic field simultaneously in patient's health expectation position region are connected in order to realize before the operation and the radiography of operation in-process to acquire the spatial position of location target point in the operation, and then can make radiography and target location fix a position and go on in step, can improve the operation accuracy, reduce operation infection risk and shorten the operation time. The utility model is suitable for an implant medical operation or intervene nature medical operation, especially compatible nuclear magnetic resonance's implant medical operation or intervene medical operation.

Description

Operation positioning assembly and magnetic resonance compatible operation navigation system

Technical Field

The utility model relates to a surgery locating component and magnetic resonance compatible surgery navigation system, which belongs to medical surgery equipment.

Background

Magnetic Resonance Imaging (MRI) is a new imaging diagnostic technique applied in the clinic in the 80 th 20 th century. MRI can be used for multi-azimuth, multi-plane and multi-parameter imaging, and has excellent soft tissue resolution and accurate geometric characteristics; compared with X-ray and CT, MRI has no ionizing radiation and no harm to patient and doctor. Compared with other imaging modes, because MRI has the advantages in minimally invasive surgery operation, doctors and engineers decide to transplant the robot technology into MRI, and the nuclear magnetic resonance image with the advantages of no radiation, multi-directional imaging, excellent soft tissue resolution, accurate positioning, long working time and the like guides the robot to be assisted with minimally invasive surgery, which represents the development direction of minimally invasive surgery in a long time now.

The Deep Brain Stimulator (DBS) can be implanted into brain for treating dyskinesia diseases such as Parkinson, epilepsy, depression, obsessive-compulsive disorder, etc., and can also be used for drug rehabilitation. In the implantation operation, because cerebral fluid exists in the head of a human body and the brain tissue of the human body is covered by the cerebral fluid, when the IPG is implanted into the operation, after the skull shell is opened, the cerebral fluid flows out of the skull in a small part, at the moment, the position of the brain tissue shifts due to the change of the cerebral fluid amount, the spatial position of the positioning target point also shifts, and at the moment, if the operation is still carried out according to the previous contrast image, the implanted IPG cannot accurately reach the positioning target point.

In addition, the existing positioning assembly is incompatible with the mri room, and an IPG implantation operation needs to be performed outside the mri room, so that the patient is repeatedly pushed into (out of) the mri room, the risk of infection is increased, and the operation time is prolonged.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize at the transform of a plurality of degrees of freedom, help reducing the operation subassembly of the operation implementation degree of difficulty.

In order to achieve the above purpose, the utility model provides a following technical scheme: a surgical positioning assembly for positioning a surgical tool at a desired location on a patient's body includes at least a support frame for supporting the surgical tool, the support frame being movable in at least two degrees of freedom relative to the desired location on the patient's body.

Further, the support frame can make rotation movement and/or translation movement along at least one circumferential direction relative to the expected position of the patient body.

Furthermore, the support frame comprises at least two sub-frame bodies, and the at least two sub-frame bodies rotate along a first circumferential direction relative to the expected position of the body of the patient.

Further, at least two of the sub-frames are rotated in the same or opposite directions in the first circumferential direction relative to the desired position of the patient's body.

Furthermore, the two sub-frame bodies comprise a first sub-frame body and a second sub-frame body, and the first sub-frame body and the second sub-frame body are both in cantilever structures; the first sub-frame body and the second sub-frame body are oppositely arranged on two sides of a desired position of the body of a patient.

Further, each subframe body is provided with a first fixing end and a second fixing end which are oppositely arranged, and the first fixing end and the second fixing end are oppositely arranged on two sides of a desired position of the body of the patient.

Further, the rotation center of the frame body is coincident with the middle point of the vertical scanning baseline and the transverse scanning baseline of the nuclear magnetic resonance system.

Further, the support frame includes a frame body for mounting the surgical tool and/or allowing the surgical tool to move thereon.

Further, the support frame is a mechanical arm capable of moving in at least two degrees of freedom.

Further, the operation positioning assembly further comprises a base, and the base is arranged below the supporting frame; the support frame can move on the base.

Further, the surgical positioning assembly also includes a coil for use in an imaging procedure.

Further, the operation positioning assembly coil is fixed on the operation positioning assembly and is matched with the expected position of the body of the patient to form a fixation.

Further, the surgical positioning assembly further comprises a fixing device for fixing the desired position of the patient body.

Further, the fixation device includes an abutment pin that abuts against a desired location on the patient's body.

Further, the desired position of the patient body is the head of the patient.

The utility model also provides a magnetic resonance compatible operation navigation, including above-mentioned operation locating component.

The beneficial effects of the utility model reside in that: the utility model discloses a compatible operation navigation of operation locating component and magnetic resonance is because its support frame can be relative patient health expectation position do two at least degrees of freedom and go up the motion to make this operation locating component can realize the transform of two at least degrees of freedom, help reducing the operation and implement the degree of difficulty. Additionally, the utility model discloses a another kind of operation locating component is connected with the magnetic resonance system through the magnetic field generating device that sets up the production magnetic field in patient's health expectation position in order to realize before the operation and the radiography of operation in-process to acquire the spatial position of location target point in the operation, and then can make radiography and target location fix a position and go on in step, so, can improve the operation accuracy, reduce operation infection risk and shorten the operation time. The utility model is suitable for an implant medical operation or intervene nature medical operation, especially compatible nuclear magnetic resonance's implant medical operation or intervene medical operation.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of a surgical positioning assembly according to a first embodiment of the present invention;

fig. 2 is a schematic structural view of a surgical positioning assembly according to a second embodiment of the present invention;

fig. 3 is a schematic structural view of the surgical positioning assembly according to the third embodiment of the present invention;

FIG. 4 is an exploded view of a portion of the structure of FIG. 3;

fig. 5 is a schematic structural view of the surgical positioning assembly according to the fourth embodiment of the present invention;

FIG. 6 is an exploded view of other base and head restraint structure of the present invention;

fig. 7 is a schematic structural view of the surgical positioning assembly according to the fifth embodiment of the present invention;

FIG. 8 is an exploded view of the angle adjustment bracket of FIG. 7;

fig. 9 is a schematic structural view of the surgical positioning assembly according to the sixth embodiment of the present invention.

Fig. 10 is a schematic structural view of the surgical positioning assembly according to the seventh embodiment of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

The utility model provides a surgery positioning assembly, it can be used to the location of the expected position of whole health including the brain, uses the brain to discuss as concrete implementation as the location position below, and the device practical application field is not restricted to the brain position. Since the brain is a part of the head, when the brain is used as a positioning site for easier operation, the head is usually fixed, and therefore, the following fixation of the head of a patient aims to position the brain.

Referring to fig. 1, a surgical positioning assembly 1 according to a first embodiment of the present invention includes a support frame 10 for supporting a surgical tool and a base 20 disposed below the support frame 10, in this embodiment, the surgical tool is a puncture outfit and a sleeve 12 through which an electrode wire passes (please refer to fig. 2), in this embodiment, the sleeve 12 is of a conventional design, and therefore, the description thereof is omitted. The support frame 10 is movable in at least two degrees of freedom with respect to the head of a patient (not numbered). in the present embodiment, the support frame 10 is designed to be movable in two degrees of freedom with respect to the head of the patient, and the support frame 10 includes a frame body 30 for supporting a surgical tool and an angle adjusting frame 40 for supporting the frame body 30. The frame body 30 may be in a polygonal shape including but not limited to an arc shape, a triangle shape, a rectangle shape, etc., and preferably an arc shape. Taking fig. 1 as a reference view angle, a rectangular space coordinate system is established by using the space where the head of the patient is located, in fig. 1, the x-axis direction is defined as the width direction of the frame assembly 1, the y-axis direction is defined as the height direction of the frame assembly 1, and the z-axis direction is defined as the longitudinal direction of the frame assembly 1. Assuming that the patient lies flat and the face of the patient faces upward, the head of the patient is used as a spherical model reference object, a second circumferential direction passing through two ears is defined as the head, a first circumferential direction perpendicular to the second circumferential direction is defined as the head, the angle adjusting frames 40 are oppositely arranged at two sides of the head of the patient and close to the ears, the angle adjusting frames 40 can drive the frame body 30 to rotate on the head of the patient along the first circumferential direction, the frame body 30 is approximately arc-shaped and provided with arc-shaped sections (not numbered), and the frame body 30 extends along the second circumferential direction. The base 20 has two longitudinally extending frames 201 extending in the Z-axis direction and a transversely extending frame 202 connecting the two longitudinally extending frames 201. The supporting frame 30 is disposed on the longitudinally extending frame 201 and can move in the longitudinal direction (z-axis direction) of the longitudinally extending frame 201. In this embodiment, the supporting frame 30 and the longitudinally extending frame 201 realize the translational motion through the sliding rail assembly. Because the support frame 30 can move in two degrees of freedom (rotate in the first circumferential direction and translate in the longitudinal direction) relative to the head of the patient, the surgical positioning assembly 1 can realize at least two changes in the degrees of freedom, which helps to reduce the difficulty of surgical implementation.

The following procedure can be adopted in performing the operation using the operation positioning assembly 30 of the first embodiment:

after the first positioning is finished and the craniotomy is to be performed, the frame body 30 is directly detached without rotating the frame body 30 to turn the frame body 30 upwards. At this time, the angle of the frame body 30 is kept at the angle of the working position, the frame body 30 is mounted back after craniotomy, and the next operation can be directly carried out, so that the operation of adjusting the frame body 30 for the second time is omitted, and the error caused by adjusting the angle for the second time is also avoided. The disassembly of the frame body 30 can be completed only by rotating the angle adjusting frame 40; and no position adjustment is required.

Referring to fig. 2, the surgical positioning assembly 100 according to the second embodiment of the present invention includes a support frame 13 for supporting a surgical tool and a magnetic field generating device 11 for generating a magnetic field in a head region of a patient. The support frame 13 is capable of rotational movement relative to the head (not numbered) of a patient and translational movement relative to the head of the patient. The operation positioning assembly 100 is connected with a magnetic resonance system through a magnetic field generating device 11 which generates a magnetic field in the head region of a patient to realize the radiography before and during the operation, so as to acquire the space position of a positioning target point in the operation; meanwhile, the accurate craniotomy position can be positioned by matching the pipe sleeve 12 and the support frame 13, and the radiography and the craniotomy position positioning can be synchronously performed, so that the magnetic resonance compatible operation positioning assembly 100 can improve the operation accuracy, reduce the operation infection risk and help to shorten the operation time.

The magnetic field generating device 11 may be any device capable of generating a magnetic field, which needs to be connected to a magnetic resonance system, in this embodiment, the magnetic field generating device 11 is configured as a coil cover, the coil cover includes a lower cover shell 111 for supporting the head of the patient and an upper cover shell 112 covering the lower cover shell 111, and the upper cover shell 112 and the lower cover shell 111 enclose to form an accommodating cavity 113 for accommodating the head of the patient. When in operation, the head of the patient extends into the accommodating cavity 113.

The supporting frame 13 includes a frame body 131 for supporting the pipe housing 12 and an angle adjusting frame 132 for supporting the frame body 131. Taking fig. 2 as a reference view, a rectangular space coordinate system is established by using the space where the head of the patient is located, and in fig. 2, an x-axis direction is defined as a width direction of the frame assembly 100, a y-axis direction is defined as a height direction of the frame assembly 100, and a z-axis direction is defined as a longitudinal direction of the frame assembly 100. In this embodiment, the frame body 131 has two mounting ends 1311, and the two mounting ends 1311 of the frame body 131 are arranged on both sides of the magnetic field generating device 11 in the width direction of the surgical positioning assembly 100. In this embodiment, the frame 131 has a substantially arc-shaped structure. Assuming that the patient lies down, the head of the patient extends into the magnetic field generating device 11, the face of the patient faces upward, the head of the patient is used as a spherical model reference object, a circle passing through two ears is defined as a second circumferential direction of the head, and a circle perpendicular to the second circumferential direction is defined as a first circumferential direction of the head, since the frame body 131 is substantially arc-shaped, and the two mounting end portions 1311 of the frame body 131 are located at two sides of the magnetic field generating device 11, the frame body 131 can be defined to extend along the second circumferential direction of the head.

The holder body 131 further has an arc-shaped section 1312 extending in the second circumferential direction of the head and gentle sections 1313 formed by extending backward from both ends of the arc-shaped section 1312, and the mounting end portions 1311 are formed at ends of the gentle sections 1313. The sleeve 12 is mounted on a frame 131, and the sleeve 12 can move on the frame 131, specifically: the supporting frame 13 includes a positioning assembly 133 disposed on the frame body 131, the pipe sleeve 12 is disposed on the positioning assembly 133, and the positioning assembly 133 is movable on the frame body 131. In order to smooth the movement of the positioning assembly 133, the positioning assembly 133 performs the movement on the arc-shaped section 1312 of the frame 131. The positioning assembly 133 and the curved segment 1312 can be assembled in a variety of ways that are conventional in the art, such as a sliding assembly connecting the positioning assembly 133 to achieve sliding movement. In this embodiment, the frame body 131 is provided with a moving groove 1314 extending along the second circumferential direction of the head portion, and the positioning assembly 133 is provided with a sliding member penetrating through the moving groove 1314, specifically: the frame body 131 has a sheet body 1315 extending along a second circumferential direction of the head, the moving slot 1314 is formed on the sheet body 1315, the positioning assembly 133 includes a buckle 1331 clamped on the sheet body 1315, the buckle 1331 is provided with a fastening hole (not shown), and the sliding member is a fastening member sequentially passing through the fastening hole and the moving slot 1314.

Two ends of the frame body 131 are respectively fixed by two angle adjusting frames 132, and the frame body 131 can rotate relative to the angle adjusting frames 132 to realize that the frame body 131 moves along the first circumferential direction of the head. In order to facilitate the control of the adjusting angle of the bracket, an annular scale mark is formed on the outer end surface of the mounting end 1311, and correspondingly, a scale reference mark is arranged on the sheet-shaped bracket.

In this embodiment, the pipe sleeve 12 can move along the first circumferential direction by the matching of the positioning assembly 133 and the frame 131, the frame 131 can move along the first circumferential direction by the arrangement of the angle adjusting frame 132, and the pipe sleeve 12 is arranged on the frame 131, so the movement of the frame 131 will change the position of the pipe sleeve 12 in the first circumferential direction, and therefore, the support frame 13 in this embodiment can change the pipe sleeve 12 with two degrees of freedom. Indeed, in addition to the two degree of freedom variation, other supports 13 may be employed to achieve multiple degree of freedom variation of the sleeve 12. In this embodiment, the support frame 13 further comprises an automatic stage positioning assembly 134, and the automatic stage positioning assembly 134 can automatically and precisely implant the electrode to complete precise trimming and electrode implantation. The automated platform positioning assembly 134 is mounted on the glides and the shroud 12 is mounted on the automated platform positioning assembly 134.

In order to make the operation more precise and improve the efficiency of the operation, the head of the patient generally needs to be fixed during the operation to prevent the patient from moving or the patient from shaking the head due to the external force, so the operation positioning assembly 100 further includes a head fixing device 135 for fixing the head of the patient, in this embodiment, the head fixing device 135 includes two opposite clamping seats (not numbered) and two supporting nails (not numbered) installed on the clamping seats to clamp the head of the patient, and the two supporting nails are relatively supported on two opposite sides of the head of the patient. When the patient lies flat, the two support pins are located near the upper portion of the patient's ears. In this embodiment, in order to facilitate the operation of the holding nail, the head fixing device 135 is disposed outside the magnetic field generating device 11, and is located at two sides of the magnetic field generating device 11 in the width direction of the surgical positioning assembly 100, and two sides of the magnetic field generating device 11 are opened with windows (not numbered) for the holding nails 1352 to pass through.

In order to make the surgical positioning assembly 100 modular, easy to move and assemble, and easy to use with a magnetic resonance system, the surgical positioning assembly 100 of this embodiment further includes a base 14, and the magnetic field generating device 11, the supporting frame 13 and the head fixing device 135 are fixed on the base 14. When the operation positioning assembly 100 is used, the base 14 is only required to be moved to assemble the operation positioning assembly 100 with the magnetic resonance system, and the operation positioning assembly 100 is provided with the base 14, so that the magnetic field generating device 11, the support frame 13 and the head fixing device 135 do not need to be fixed by using additional fixing pieces when the operation positioning assembly 100 is assembled with the magnetic resonance system, and the design of the nuclear magnetic resonance bed does not need to be changed. In addition, because the frame assembly 100 is basically placed on the nmr bed, if the base 14 is provided, a stable rigid connection can be formed between the frame assembly 100 and the nmr bed, so as to prevent the frame assembly 100 from shaking and shifting during the operation. In the above, the support frame 13 is rotatable relative to the head of the patient through the angle adjustment frame 132, and can complete the movement in one degree of freedom, in this embodiment, the support frame 13 performs the translational movement relative to the head of the patient to realize the movement in the second degree of freedom, and the base 14 has two longitudinally extending frames 141 extending along the Z-axis direction and a transversely extending frame 142 connecting the two longitudinally extending frames 141. The support frame 13 is disposed on the longitudinally extending frame 141 and is movable in a longitudinal direction (z-axis direction) thereof with respect to the longitudinally extending frame 141.

Referring to fig. 3 and 4, the surgical positioning assembly 200 according to the third embodiment of the present invention is similar to the surgical positioning assembly 200 according to the first embodiment, except that: the shape of the magnetic field generating device 21 and the structure of the support 23. In the present embodiment, the shape of the magnetic field generating device 21 is different from that of the first embodiment only in the shape and size, and therefore, the detailed description thereof is omitted here. The supporting frame 23 in this embodiment is substantially similar to the supporting frame in the first embodiment, and the first circumferential direction and the second circumferential direction in this embodiment define the same directions as in the first embodiment. The second embodiment is different from the first embodiment in that: the frame 231 comprises a first slip segment 2311 and a second slip segment 2312 which can be butted with the first slip segment 2311, the first slip segment 2311 and the second slip segment 2312 are arc-shaped segments extending along a second circumferential direction, the positioning assembly 133 comprises a first positioning assembly 2331 arranged on the first slip segment 2311 and a second positioning assembly 2332 arranged on the second slip segment 2312, and in the embodiment, the frame 231 comprises a fastener (not shown) for connecting the first butt joint 2314 and the second slip segment 2312. In other embodiments, the first sliding section 2311 and the second sliding section 2312 can be shifted, please refer to fig. 5, in the fourth embodiment, the first sliding section 3311 and the second sliding section 3312 are cantilever structures (only one end is fixed by an angle adjusting member), in the fourth embodiment, the first sliding section 3311 and the second sliding section 3312 are not connected and relatively independent, so the first sliding section 3311 is referred to as a first subframe body, and the second sliding section 3312 is referred to as a second subframe body. The two angle adjusting members 332 are oppositely arranged on two sides of the head (not shown) of the patient, and the frame body is arranged into two cantilever structures (a first sub-frame body and a second sub-frame body), so that the first sub-frame body and the second sub-frame body can move on different positions in the first circumferential direction, and thus, positioning dislocation can be avoided, because the positions of two positioning target points do not use one circumference any more due to the lying posture, the head placing position and the position of brain tissues in the skull during a specific operation, if the frame body of the first embodiment is adopted, the frame body can not correct the deviation, and the deviation needs to be corrected by other parts (such as the automatic positioning assembly 133), while if the frame body of the first embodiment is adopted, the frame body can correct the deviation, and the implementation is more convenient; in addition, if the frame body adopts two sections, the frame body is convenient to manufacture. Referring to fig. 9, in the sixth embodiment, the support frame includes two sub-frame bodies 631, each sub-frame body 631 has a first fixing end (not numbered) and a second fixing end (not numbered) opposite to each other, and the first fixing end and the second fixing end are oppositely disposed at two sides of the head of the patient. The two subframe bodies 631 rotate along a first circumferential direction relative to the head of the patient through the angle adjusting frame. Indeed, in other embodiments, a plurality of sub-frame bodies may be provided according to actual conditions, and in other embodiments, each sub-frame body is supported by a different angle adjusting frame, respectively.

Referring to fig. 3 and 4 again, in the third embodiment, the first sliding section 2311 and the second sliding section 2312 are both sheet-shaped bodies extending along the second circumferential direction, and the sliding member 233 is a clip fixed on the sheet-shaped bodies.

The angle adjusting bracket 232 includes a seat body 2321 installed on the base 24, a connecting ring 2322 installed on the seat body 2321, a shaft sleeve 2323 connecting the seat body 2321 and the connecting ring 2322, and a fastening knob 2324 installed in the shaft sleeve 2323, wherein the seat body 2321 and the connecting ring 2322 are clamped between the fastening knob 2324 and the shaft sleeve 2323, the shaft sleeve 2323 sequentially passes through the seat body 2321 and the connecting ring 2322, and the fastening knob 2324 has a rod body (not numbered) inserted into the shaft sleeve 2323 and a knob portion (not numbered) located at a head end of the rod body. A protruding rod 2325 abutting against the assembling portion 2313 is formed on the outer circle of the connecting ring 2322 in a protruding manner, and the protruding rod 2325 is inserted into the assembling portion 2313. The angle adjusting bracket 232 is used as follows: when the frame 231 needs to be adjusted to move in the first circumferential direction, the fastening knob 2324 is unscrewed, and the holding force of the fastening knob 2324 and the shaft sleeve 2323 on the connection ring 2322 is reduced, so that after an external force is applied to the frame 231, the frame 231 can be dragged to move in the first circumferential direction, that is, the frame 231 is dragged to rotate relative to the frame body 2321 by taking the shaft sleeve 2323 as a rotation shaft, and the angle adjustment of the frame 231 is realized; when the frame 231 moves to a desired position along the first circumferential direction, the fastening knob 2324 is tightened to increase the holding force of the fastening knob 2324 and the shaft sleeve 2323 on the connection ring 2322, so as to prevent the frame 231 from rotating relative to the frame body 2321 by using the shaft sleeve 2323 as a rotation shaft. The abutting portion of the seat body 2321 and the connecting ring 2322 is an annular housing 2328, a semicircular groove 2326 is formed in the annular housing 2328, the protruding rod 2325 is located in the semicircular groove 2326, the protruding rod 2325 can rotate in the semicircular groove 2326 along the circumferential direction of the annular housing 2328, and two sides of the semicircular groove 2326 are provided with stop walls 2327 to limit the displacement of the protruding rod 2325 along the circumferential direction of the annular housing 2328. The annular housing 2328 further has a circle of arc-shaped scales located at one side of the semi-annular groove to display the rotational displacement amount of the protruding rod 2325 (i.e., the adjustment angle of the frame body 231). The angle adjusting frame 232 is more convenient to operate, the angle of the frame body 231 can be adjusted only by tightening or loosening the fastening knob 2324, and the overall structure is simple.

In this embodiment, the head fixing device 235 includes a fixing hoop 2351 for clamping the head of the patient and a support frame 2352 for supporting the fixing hoop 2351. The fixing strap 2351 includes a strap body (not numbered) and an abutting nail (not shown) provided on the strap body to abut against the head of the patient. The support frame 2352 comprises a hinge seat 2353 and a hinge block 2354 hinged with the hinge seat 2353, wherein the fixed hoop 2351 is mounted on the hinge block 2354, and the hinge block 2354 can move relative to the hinge seat 2353 to drive the fixed hoop 2351 to rotate towards or away from the head of a patient to make the head of the patient at a proper angle. Compared with the embodiment, the fixing hoop 2351 and the support 2352 are adopted, so that the placing angle of the patient can be adjusted, and a doctor can conveniently find a proper operation position. However, in this embodiment, since the fixing hoop 2351 is usually made of a titanium alloy material, it has a certain influence on the mri, and the fixing hoop 2351 may block the nuclear magnetic resonance imaging, and if the embodiment is adopted, since the head directly rests on the lower cover body and the head fixing device only fixes both sides, there is no problem of blocking.

Referring to fig. 6, in addition to the head fixation device shown in the second and third embodiments, the head fixation device 335 may further include an arc-shaped hoop 3351, an arc-shaped pillow sheet 3352 disposed on two opposite sides of the head of the patient opposite to the arc-shaped hoop 3351, and two fixing seats 3353 disposed opposite to each other, wherein two ends of the arc-shaped hoop 3351 are respectively mounted on the two fixing seats 3353. In this embodiment, in order to fix the arc-shaped hoop 3351, the head fixing device 335 is further provided with a first pressing nail 3354, the first pressing nail 3354 is threadedly engaged with the fixing seat 3353, and the first pressing nail 3354 penetrates the fixing seat 3353 to press against the arc-shaped hoop 3351. In order to further fix the head, in this embodiment, the head fixing device 335 further includes a positioning piece 3355 and a first retaining nail 3356 screwed with the positioning piece 3355, an opening 3357 is formed on the arc-shaped hoop 3351 for the first retaining nail 3356 to pass through to retain on the head of the patient, when the head fixing device is installed, the positioning piece 3355 is placed on the arc-shaped hoop 3351, and the first retaining nail 3356 passes through the positioning piece 3355 and the opening 3357 to retain on the head of the patient. When the patient lies flat, the first abutment nail 3354 is positioned near the brow bone of the patient. The arc-shaped pillow piece 3352 is arranged below the head part relative to the arc-shaped hoop 3351, and in order to fix the arc-shaped pillow piece 3352, an installation opening for accommodating the arc-shaped pillow piece 3352 can be arranged on the lower cover shell.

Referring to fig. 7 and 8, the supporting frame 43 of the surgical positioning assembly of the fifth embodiment includes a frame body 431 for supporting the tube 42 and an angle adjusting frame 432 for supporting the frame body 431. This support body 431 has the segmental arc that extends along the first circumferencial direction of head, is provided with the shifting chute 4314 that extends along the first circumferencial direction of head on this segmental arc, specifically: the holder body 431 includes a first sheet body 4311 extending in a first circumferential direction of the head and a second sheet body 4312 covering the first sheet body 4311, a slide is sandwiched between the first sheet body 4311 and the second sheet body 4312, and the moving groove 4314 is defined by the first sheet body 4311 and the second sheet body 4312.

The angle adjusting rack 432 comprises a base 4321 installed on the base 44, a connection ring 4322 installed on the base 4321, a shaft sleeve 4323 connecting the base 4321 and the connection ring 4322, a fastening knob 4324 installed in the shaft sleeve 4323, and a sliding limit sleeve 4325 installed on the fastening knob 4324. The seat body 4321, the connection ring 4322 and the sliding limit sleeve 4325 are sequentially clamped between a shaft sleeve 4323 and a fastening knob 4324, the shaft sleeve 4323 sequentially passes through the seat body 4321, the connection ring 4322 and the sliding limit sleeve 4325, and the fastening knob 4324 has a shaft body portion (not numbered) inserted into the shaft sleeve 4323 and a knob portion (not numbered) located at a head end of the shaft body portion. The base 4321 has a shaft hole 4326 through which the shaft sleeve 4323 passes, an inner limit groove (not numbered) is formed in the shaft hole 4326, a limit protrusion 4327 matched with the inner limit groove is formed on the shaft sleeve 4323, and the shaft sleeve 4323 is limited to rotate relative to the base 4321 by the matching of the limit protrusion 4327 and the inner limit groove. A protruding rod 4328 abutting against the frame body 431 is formed in the outer circle of the connection ring 4322 in a protruding manner, and the protruding rod 4328 is connected with the frame body 431 through a fastener. The sliding position limiting sleeve 4325 has a threaded connection section 4325a in threaded connection with the fastening knob 4324 and a position limiting pin 4325b extending in the opposite direction of the threaded connection section 4325a, and the connection ring 4322 has a plurality of pin holes 4329 formed therein, in this embodiment, the pin holes 4329 are connected to form an arc-shaped hole group, and the position limiting pin 4325b is inserted into one of the pin holes 4329 to limit the rotation of the frame body 431 relative to the angle adjustment frame. The angle adjusting rack 432 is used as follows: the fastening knob 4324 should be unscrewed, then the limit pin 4325b is pulled out of the pin hole 4329, and the frame body 431 is rotated in the first circumferential direction to be adjusted to a proper angle; finally, the limit pins 4325b are inserted into the corresponding pin holes 4329, and the fastening knobs 4324 are tightened. Due to the matching of the limit pin 4325b and the bolt hole 4329, the frame body 431 does not fall down accidentally due to human reasons (such as no locking) or external pressure, so that the safety is improved, and the precision of the operation is improved. In addition, the supporting frame 43 in this embodiment can be mostly made of sheet metal, which is helpful to save materials.

In the above embodiments, it can be seen that the support frame may be in different combinations of a split structure, a split joint, two coaxial sections, and the like, and in the foregoing embodiments, the frame body is substantially in an arc shape, but in other embodiments not shown, the frame body may also be in any other shape, such as a rectangular shape. In the foregoing embodiments, the support frame is moved relative to the head of the patient in the z-axis, and in other embodiments, the support frame may be configured to move along the x-axis and/or the y-axis, or in any other direction perpendicular to the coordinate space; in addition, the transformation with other degrees of freedom may be implemented without moving relative to the head of the patient (for example, the support frame is configured as a mechanical arm, which can move in at least two degrees of freedom, such as the mechanical arm 50 shown in fig. 10, which will be described in detail later in the present disclosure for the mechanical arm 50 shown in fig. 10). Of course, in this embodiment, only two degrees of freedom up-conversion positions are given, and in other implementations, more than two may be adopted.

Referring to fig. 10, the robot arm 50 includes a bottom arm 51, a cantilever 52 disposed on the bottom arm 51, and a holding arm 53 disposed on the cantilever 52, wherein the holding arm 53 is used for mounting a surgical tool (not shown). The bottom arm 51 is of a liftable structure and driven by a liftable motor 54, the cantilever 52 is of a telescopic structure, the holding arm 53 can rotate relative to the cantilever 52, and the holding arm 53 can rotate. It is of course also possible to arrange the gripping arm 53 and the cantilever arm 52 in an automatic adjustment by means of a motor drive. The robotic arm 50 may be secured in place to complete the procedure, as the case may be. In other embodiments, the robotic arm 50 may be configured in other configurations to accomplish its movement in multiple degrees of freedom, depending on the actual requirements.

In this embodiment, the surgical positioning assembly further comprises a base 60, the base 60 being disposed below the robotic arm 50; the robot arm 50 is movable on the base 60, and specifically, the base 60 includes a first base 61 extending along the Z-axis direction and a second base 62 extending along the X-axis direction, the second base 62 is disposed above the first base 61, and the second base 62 is movable in the longitudinal direction of the first base 61 (movement in the Z-axis direction) relative to the first base 61, and the robot arm 50 is disposed on the second base 62 and movable in the longitudinal direction of the second base 62 (movement in the X-axis direction) relative to the second base 62. The base 60 is provided with a sliding assembly and controls a driving motor 63 of the sliding assembly, so that automatic control is realized, the mechanical arm 50 is driven by the base 60 to translate along the directions of the Z axis and the X axis, and in detail: the first base 61 and the second base 62, the second base 62 and the mechanical arm 50 are connected through a sliding assembly, and the sliding assembly is controlled by a motor 63 to realize automatic control. In other embodiments, a lifting device may also be provided on the base 60 to achieve up and down movement (i.e., movement in the Y-axis direction) of the robotic arm 50.

In the foregoing embodiments, the magnetic field generating device, the fixing device, and the supporting frame are all separate components and are integrally disposed, and in other embodiments, the magnetic field generating device, the fixing device, and the supporting frame are separately disposed or integrally/integrally disposed or two of them are integrally/integrally disposed.

The utility model provides a surgery locating component has following advantage: 1. MR compatible; 2. the needle can be accurately placed at any ideal position of the body, including the brain, the chest, the abdomen, the limbs, and the like; 3. allowing for the carrying of surgical instruments of different diameter sizes; 4. the morbidity and mortality of the operation are reduced to the maximum extent; 5. the success rate of the program being executed is improved; 6. allowing use in patients of all ages, including infants.

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

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A surgical positioning assembly for positioning a surgical tool at a desired location on a patient's body, the surgical positioning assembly comprising at least a support frame for supporting the surgical tool, the support frame being movable in at least two degrees of freedom relative to the desired location on the patient's body.

2. The surgical positioning assembly of claim 1, wherein the support frame is rotationally and/or translationally movable in at least one circumferential direction relative to the desired position on the patient's body.

3. The surgical positioning assembly of claim 1, wherein the support frame includes at least two sub-frames, at least two of the sub-frames being rotationally movable in a first circumferential direction relative to a desired position on the patient's body.

4. The surgical positioning assembly of claim 3, wherein at least two of the sub-frames are rotationally movable in the same or opposite directions in a first circumferential direction relative to a desired position on the patient's body.

5. The surgical positioning assembly of claim 4, wherein the two sub-frame bodies comprise a first sub-frame body and a second sub-frame body, and the first sub-frame body and the second sub-frame body are both cantilever structures; the first sub-frame body and the second sub-frame body are oppositely arranged on two sides of a desired position of the body of a patient.

6. The surgical positioning assembly of claim 3, wherein each of the subframe bodies has first and second oppositely disposed fixed ends which are oppositely disposed on opposite sides of a desired location on the patient's body.

7. The surgical positioning assembly of claim 3, wherein the center of rotation of the frame coincides with a midpoint of a vertical scan baseline and a lateral scan baseline of the nuclear magnetic resonance system.

8. A surgical positioning assembly according to any of claims 1 to 7, wherein the support frame includes a frame body to mount the surgical tool and/or to enable the surgical tool to be moved thereon.

9. The surgical positioning assembly of claim 1, wherein the support frame is a robotic arm that is movable in at least two degrees of freedom.

10. A surgical positioning assembly according to claim 1, 2 or 9, further comprising a base disposed below the support frame, the support frame being movable on the base.

11. The surgical positioning assembly of claim 1, further comprising a coil for use in an imaging procedure.

12. The surgical positioning assembly of claim 1, wherein the surgical positioning assembly coil is secured to the surgical positioning assembly and forms a secure fit with a desired location on the patient's body.

13. The surgical positioning assembly of claim 1, further comprising a fixation device to fix a desired position of the patient's body.

14. The surgical positioning assembly of claim 13, wherein the securing device includes an abutment pin that abuts a desired location on the patient's body.

15. The surgical positioning assembly of claim 1, wherein the desired location on the patient's body is the patient's head.

16. A magnetic resonance compatible surgical navigation system including a surgical positioning assembly according to any one of claims 1 to 15.