CN217162285U - Surgical robot registration panel suitable for three-dimensional orientation headstock - Google Patents

Abstract

The utility model relates to the technical field of medical equipment, specifically disclose a surgical robot registration panel suitable for stereotactic headstock, including the panel main part that can shelter from patient's eye and forehead, the outside extension of bottom both sides of panel main part forms the panel foot that is used for installing panel main part to stereotactic headstock, a plurality of registration mark holes have been seted up to surface and both sides asymmetry of panel main part, and the inside of registration mark hole is equipped with and replaces the registration mark point that bony landmark carries out the location to the arm distal end registration probe of surgical robot when establishing patient's head multimode image; the utility model discloses a registration mark hole of panel can replace the bone nail of fixing originally on patient's skull to realize locate function for surgical robot's registration probe, does not need extra preoperative preparation time, can guarantee the accuracy of location and reduce patient's misery, reduces the operation risk, has also made things convenient for the normal clear of emergency operation and ordinary operation.

Description

Surgical robot registration panel suitable for three-dimensional orientation headstock

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a surgical robot registration panel suitable for a three-dimensional orientation headstock.

Background

When the neurosurgical robot is used, the operation area needs to be registered in a built-in coordinate system of the neurosurgical robot system by using multi-modal imaging data of a patient, so that the purpose of real-time positioning and navigation of a computer is achieved. The existing surgical robot registration modes comprise bony sign registration, frame registration, visual identification registration and the like, wherein the bony sign registration precision is the highest and can reach 0.1-0.2mm, and the principle is that the registration is finished by contacting a mechanical arm far-end registration probe of a neurosurgical robot with a bony sign to obtain a plurality of spatial positions, so that the bony sign registration method is usually used in operations requiring extremely high precision, such as deep brain stimulation, intracranial lesion biopsy, cerebral hemorrhage and the like.

However, in practical applications, the bone markers (bone nails) to be registered for use need to be fixed on the skull of the patient in advance, the operation of the process needs to examine the technical level of the bone markers of the operator to be fixed on the skull, a large amount of preparation time before the operation needs to be consumed, the bone markers fixed on the skull need to be disassembled after the operation, certain additional damage is caused to the patient, the infection possibility is greatly increased, and even the risk of intracranial hematoma exists.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a surgical robot registers panel suitable for stereotactic headstock possesses convenient operation, and more safe advantage, need insert the bone nail for patient's intracranial nail when having solved current surgical robot and registering, operates comparatively inconvenient and have the problem of certain risk.

The utility model discloses a surgical robot registers panel suitable for stereotactic headstock, including the panel main part that can shelter from patient's eye and forehead, the outside extension in bottom both sides of panel main part forms the panel foot that is used for installing panel main part to stereotactic headstock, a plurality of registration mark holes have been seted up to the surface of panel main part and bilateral asymmetry, and the inside in registration mark hole is equipped with the registration mark point that replaces bony character mark to advance line location to surgical robot's arm distal end registration probe when establishing patient's head multimode image.

Through the panel foot, can install the panel main part to stereotactic headstock two stands before the registration of neurosurgery operation robot, replace the bone nail of fixing originally on patient's skull and realize the locate function for the registration probe of operation robot, avoid appearing current skull sign contact register operation in-process, the condition that the bone sign shifts because the fixed strength that causes excess bone sign and skeleton because of operation robot mechanical arm dynamics is too big appears, guarantee the stability of register panel integral erection on stereotactic headstock, avoid simultaneously that the doctor manually beats the operation of bone nail on the skull for the patient, do not need extra preparation time before the art, can guarantee the accuracy of location and reduce patient's misery, reduce the operation risk, also made things convenient for the normal clear operation of emergency operation and ordinary operation.

As the utility model discloses a further improvement, panel main part and panel foot are rigidity and transparent medical grade inferior gram force board and make, the whole platelike structure that has certain radian for the middle part of panel main part, the quantity of registration mark hole is 5 ~ 10, and 5 ~ 10 registration mark holes respectively asymmetric distribution in the surface of panel main part.

Through the design of the technical scheme, after the panel body is installed on the stereotactic head frame through the panel foot, a doctor can clearly observe the facial expression of a patient by passing through the transparent panel body, so that the consciousness degree of the patient at the moment is known, the normal operation of the registration process is facilitated, meanwhile, the panel body with the arc-shaped setting enables the registration mark points to be distributed nearby the face of the patient in a certain radian, and the accuracy of the subsequent robot for positioning the registration mark points is ensured.

As a further improvement of the present invention, the surface of the panel foot is provided with a threaded hole matched with the mounting hole formed on the surface of the two columns on the stereotactic head frame, and the two panel feet are respectively mounted on the two columns on the stereotactic head frame through the fixing bolts, the registration mark point is made of rigid medical metal material, and the registration mark point is mounted inside the registration mark hole through the self-tapping screw or the expansion screw.

Through the design of the technical scheme, the mark registration point can be replaced after being used for a long time, the service life of the mark registration point is prolonged, and meanwhile, germs are prevented from remaining in the registration mark hole, so that the disinfection and sterilization are facilitated.

As a further improvement of the utility model, the sign registration point is made of rigid medical grade transparent acrylic plastic, and the sign registration point and the sign registration hole are integrally formed.

Through the design of the technical scheme, the registration mark points are integrally formed, so that the registration panel is high in efficiency in disinfection and sterilization, the face of a patient can be observed conveniently, and the production is convenient and rapid.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model can install the panel main body on the two upright posts on the stereotactic headstock through the registration mark holes on the panel feet and the panel main body before the registration of the neurosurgery robot, replace the bone nails originally fixed on the skull of the patient to realize the positioning function for the registration probe of the operation robot, avoid the existing skull mark contact registration operation process, the situation that the bony sign deviates because the fixing strength of the bony sign and the skeleton is exceeded due to the overlarge mechanical arm force of the surgical robot occurs, the stability that the registration panel is integrally arranged on the stereotactic head frame is ensured, meanwhile, the operation that a doctor manually drives bone nails on the skull for a patient is avoided, no extra preoperative preparation time is needed, the positioning accuracy can be ensured, the pain of a patient is reduced, the operation risk is reduced, and the normal operation of emergency operation and common operation is facilitated.

2. The utility model discloses a transparent material's panel main part for can be in the panel main part through the panel foot install stereotactic headstock on the back, the doctor can be clear pass transparent panel main part and observe patient's facial expression, know patient's consciousness degree this moment, make things convenient for the normal clear of registration process, the panel main part that the arc set up makes the distribution that the registration mark point also is certain radian near patient face simultaneously, guarantee the accuracy of follow-up robot to the registration mark point location.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic view of the three-dimensional structure of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic view of the bottom-up structure of the present invention;

fig. 4 is a schematic front view of embodiment 3 of the present invention;

fig. 5 is a schematic front view of embodiment 4 of the present invention.

In the figure: 1. a panel main body; 2. panel feet; 3. registering the sign hole; 4. and registering the mark point.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Example 1:

referring to fig. 1, the present invention provides a surgical robot registration panel for stereotactic head frame, including a panel body 1 capable of shielding eyes and forehead of a patient, two sides of the bottom of the panel body 1 extend outwards to form panel feet 2 for mounting the panel body 1 to the stereotactic head frame, a plurality of registration mark holes 3 are asymmetrically formed on the surface and two sides of the panel body 1, and the registration mark holes 3 are internally provided with registration mark points 4 for positioning a mechanical arm far end registration probe of the surgical robot instead of bone marks when establishing multi-mode images of the head of the patient.

In the embodiment 1, the panel foot 2 and the registration mark hole 3 on the panel main body 1 are used for installing the panel main body 1 on two stand columns on a stereotactic head frame before the registration of the neurosurgical robot, so that a bone nail originally fixed on the skull of a patient is replaced to realize a positioning function as a registration probe of the neurosurgical robot, the phenomenon that the bone mark exceeds the fixing strength of the bone mark and the skeleton due to overlarge strength of a robot arm in the existing contact registration operation process of the bone mark is avoided, and the stability of the integral installation of the registration panel on the stereotactic head frame is ensured;

further, with the operation of registration panel integral erection on the stereotactic headstock, can avoid the manual bone nail of beating on the skull for the patient of doctor, do not need extra preoperative preparation time, also need not the doctor of operation to accumulate abundant experience in order to avoid hindering the patient, guarantee the accuracy of location and reduce patient's misery, reduce the operation risk, the normal clear of ordinary operation has also been made things convenient for, and when meetting emergency medical patients, can be more quick and timely completion robot registration operation, guarantee follow-up rescue operation's promptness, improve patient's operation success rate.

Example 2:

referring to fig. 2 and 3, the panel body 1 and the panel legs 2 are both made of rigid and transparent medical acrylic plates, the panel body 1 is a plate-shaped structure with a certain radian in the middle, the number of the registration mark holes 3 is 5-10, and the 5-10 registration mark holes 3 are respectively asymmetrically distributed on the surface of the panel body 1.

The difference from example 1 is: through the panel main body 1 made of transparent materials, after the panel main body 1 is installed on the stereotactic head frame through the panel feet 2, a doctor can clearly observe the facial expression of a patient through the transparent panel main body 1, know the consciousness degree of the patient at the moment and conveniently carry out the normal registration process;

it is worth mentioning that the panel main body 1 arranged in an arc shape enables the registration mark points 4 to be distributed near the face of the patient in a certain radian, and the accuracy of the subsequent robot for positioning the registration mark points 4 is ensured.

Example 3:

referring to fig. 4, the surface of the panel foot 2 is provided with a threaded hole matched with mounting holes formed on the surfaces of two columns on the stereotactic head frame, the two panel feet 2 are respectively mounted on the two columns on the stereotactic head frame through fixing bolts, the registration mark point 4 is made of rigid medical metal material, and the registration mark point 4 is mounted inside the registration mark hole 3 through a self-tapping screw or an expansion screw.

The difference from example 2 is: through setting up detachable registration mark point 4 for can change after registration mark point 4 uses for a long time, prolong registration mark point 4's life and avoid the germ to remain in registration mark hole 3 simultaneously, make things convenient for disinfection and sterilization.

Example 4:

referring to fig. 5, the registration mark points 4 are made of rigid medical grade transparent acrylic plastic, and the registration mark points 4 and the registration mark holes 3 are integrally formed.

The difference from example 3 is: through integrated into one piece's registration mark point 4 for the whole efficiency is higher in disinfection and sterilization of registration panel, also conveniently observes patient's face simultaneously, also more convenient and fast when production.

When using the utility model discloses the time: before an operation, the whole registration panel is installed on two stand columns on the stereotactic head frame through panel feet 2 through fixing bolts, then after the stereotactic head frame is installed on the head of a patient, the whole head is scanned by a 1mm thin-layer CT, high-resolution CT data and preoperative multi-mode patient nuclear magnetism are led into an operation planning system of a neurosurgery operation robot, and registration marks on images are marked to complete the operation plan.

At the moment, the surgical registration is carried out according to the surgical plan, the mechanical arm far-end registration probes of the robot are respectively contacted with the registration mark points 4, the registration is completed after the coordinates are obtained, the registration preparation time course is greatly shortened in the process, and the surgical energy of an operating doctor is saved.

After the registration is completed, the physician can detach the stereotactic head frame from the head of the patient, unscrew the screws on the panel feet 2, detach and pack the whole registration panel from the stereotactic head frame, and sterilize the registration panel at high temperature for the next use.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (6)

1. A surgical robot registration panel adapted for stereotactic headgear, comprising a panel body (1) adapted to occlude the eyes and forehead of a patient, characterized in that: two sides of the bottom of the panel main body (1) extend outwards to form panel feet (2) used for mounting the panel main body (1) to the stereotactic head frame, a plurality of registration mark holes (3) are asymmetrically formed in the surface and two sides of the panel main body (1), and registration mark points (4) for positioning a mechanical arm far-end registration probe of the surgical robot instead of bony marks when multi-modal images of the head of a patient are established are arranged in the registration mark holes (3).

2. A surgical robotic registration panel adapted for use with a stereotactic headgear according to claim 1, wherein: the medical-grade acrylic plate is characterized in that the panel main body (1) and the panel feet (2) are both made of rigid and transparent medical-grade acrylic plates, and the whole panel main body (1) is of a plate-shaped structure with a certain radian in the middle.

3. A surgical robotic registration panel adapted for use with a stereotactic headgear according to claim 1, wherein: the number of the registration mark holes (3) is 5-10, and the 5-10 registration mark holes (3) are respectively distributed on the surface of the panel main body (1) in an asymmetric way.

4. A surgical robotic registration panel adapted for use with a stereotactic headgear according to claim 1, wherein: the surface of the panel foot (2) is provided with a threaded hole matched with mounting holes arranged on the surfaces of two stand columns on the three-dimensional orientation head frame, and the two panel feet (2) are respectively mounted on the two stand columns on the three-dimensional orientation head frame through fixing bolts.

5. A surgical robot registration panel adapted for use with a stereotactic headgear as claimed in claim 1, wherein: the registration mark points (4) are made of rigid medical metal materials, and the registration mark points (4) are installed inside the registration mark holes (3) through self-tapping screws or expansion screws.

6. A surgical robotic registration panel adapted for use with a stereotactic headgear according to claim 1, wherein: the registration mark points (4) are made of rigid medical grade transparent acrylic plastics, and the registration mark points (4) and the registration mark holes (3) are integrally formed.

Images