WO2022267838A1

WO2022267838A1 - Spinal surgery robot system for screw placement operation

Info

Publication number: WO2022267838A1
Application number: PCT/CN2022/096112
Authority: WO
Inventors: 吕飞舟; 邵明昊; 唐文彬; 宓海; 蔡宁; 姜建元
Original assignee: 上海极睿医疗科技有限公司
Priority date: 2021-06-23
Filing date: 2022-05-31
Publication date: 2022-12-29
Also published as: CN113876430B; CN113876430A

Abstract

The present invention provides a spinal surgery robot system for screw placement operation, comprising: a path planning module used for generating a planned operation path for screw placement operation, the planned operation path being distributed along a direction in which the tissue density gradient decreases most rapidly in working bones of a surgical object; an execution module used for executing the screw placement operation; and a control module used for controlling the execution module to execute the screw placement operation according to the planned operation path. According to the spinal surgery robot system of the present invention, the planned operation path generated by the path planning module is distributed along the direction in which the tissue density gradient decreases most rapidly in the working bones of the surgery object, so that when executing the screw placement operation, the execution module inserts a screw from a less dense cancellous bone, the resistance received is thus small, and the safety of the screw placement operation is ensured.

Description

Robotic system for spinal surgery for nail placement

technical field

The invention relates to the field of surgical robots, in particular to a spinal surgery robot system used for nail placement.

Background technique

With the advancement of cervical surgery technology and the continuous deepening of the research on the local anatomy of the cervical spine, the technique of posterior cervical screw placement has developed rapidly. Posterior cervical pedicle screw fixation is a revolutionary innovation in the treatment of spinal diseases. The biomechanical stability of cervical pedicle screw fixation is superior to other cervical spine fixation techniques, even more than anterior titanium plate plus posterior lateral mass The stability of fixation is an ideal fixation method for correcting cervical kyphosis, performing fixed fusion of cervical spine, and treating cervical spine diseases such as fracture and dislocation of cervical spine.

When performing posterior cervical pedicle screw surgery on a patient, it is necessary to insert the pedicle screw into the posterior cervical spine of the human body. The existing insertion methods rely on the surgeon’s bare hands. This method not only relies on the experience of the surgeon, but also tends to cause deviations in manual operation, causing the pedicle screw to be placed off the correct track, thereby reducing the success rate of the operation. It may cause irreversible damage such as spinal cord nerve root injury and vertebral artery injury, and even endanger the life of the patient. At the same time, when inserting screws into the posterior cervical pedicles, it may be necessary to insert screws into multiple posterior cervical pedicles depending on the specific conditions of the patient. This operation undoubtedly increases the difficulty of the operation. It will test the doctor's skills even more.

With the development of medical device technology, the application of robotics in surgery is increasing. At present, in posterior cervical pedicle screw fixation, surgical robots mainly play the role of medical image modeling, auxiliary positioning and navigation, and the implantation of pedicle screws still needs to be completed by the surgeon. Because the posterior cervical pedicle is not only small but also located in the narrow space formed by the vertebral artery, spinal cord, and upper and lower nerve roots, the difficulty and risk of pedicle screw placement increase accordingly. Even if the surgeon plans the insertion of the screw path based on the preoperative images, he cannot solve the problem that the planned screw path deviates from the correct position.

Contents of the invention

The technical problem to be solved by the present invention is to provide a safe and reliable spinal surgery robot system for nail placement.

In order to solve the above-mentioned technical problems, the present invention provides a spinal surgery robot system for nail placement, which is characterized in that it includes: a path planning module for generating a planned operation path for nail placement, and the planned operation path is along the The distribution of the direction in which the tissue density gradient drops the fastest in the working bone of the surgical object; the execution module is used to perform the nail setting operation; and the control module is used to control the execution module to perform the placement according to the planned operation path Nail operation.

In some embodiments, the path planning module includes: a modeling unit, configured to establish a three-dimensional model of the operating bone according to a preoperative three-dimensional image of the operating bone; a path planning unit, configured to build a three-dimensional model on the three-dimensional model Form the planned operation path.

In some embodiments, the three-dimensional model includes structural information of the working bone, and the structural information includes tissue density at various positions in the working bone, and the tissue density is related to basic information of the surgical object.

In some embodiments, the basic information includes age, gender, height, weight and medical history.

In some embodiments, each position on the planned operation path has a corresponding preoperative simulated feedback force, and the preoperative simulated feedback force corresponds to the tissue density.

In some embodiments, the performing module includes: a nail setting manipulator, disposed at the end of the surgical performing arm, for performing the nail setting operation; and a force sensing device, disposed in the nail setting manipulator, It is used to detect the action force from the operating bone of the surgical object received by the nail setting manipulator.

In some embodiments, the control module is further configured to generate a surgical operation path according to the planned operation path and the force, and each position on the planned operation path has a corresponding preoperative simulated feedback force, so Each position on the surgical operation path has a corresponding active force, and the first difference between the active force at each position on the surgical operation path and the preoperative simulated feedback active force within a preset threshold range; and the control module controls the execution module to perform the nail setting operation according to the surgical operation path.

In some embodiments, the control module is further configured to adjust the direction of the staple-setting manipulator at each of the positions, obtain multiple acting forces in multiple directions, and compare the multiple acting forces with For the second difference between the preoperative simulated feedback forces at the positions, the direction in which the second difference is the smallest is taken as the operating direction of the nail setting manipulator.

In some embodiments, it further includes: a human-computer interaction module, configured to generate a simulated force according to the force, so that the operator receives the simulated force and controls the movement of the actuator arm through the control module.

In some embodiments, a safety module is also included for monitoring the active force in real time, and when the active force exceeds a safe range, the safety module controls the performing arm to stop the surgical operation.

In some embodiments, it also includes: a navigation positioning module, configured to obtain the spatial pose of the operating skeleton and the spatial pose of the execution arm of the spinal surgery robot, and establish a relationship between the operating skeleton and the execution arm. The spatial mapping relationship; the control module also includes: an image registration unit for registering the three-dimensional model with the intraoperative two-dimensional image of the surgical object to obtain spatial information of the registered image; the spatial mapping unit, It is used to map the space information of the registration image, the space pose of the working skeleton and the space pose of the execution arm in unified space coordinates; a path transformation unit is used to transform the planned operation path into the The surgical operation path in the unified spatial coordinates.

In the spinal surgery robot system of the present invention, the planned operation path generated by the path planning module is distributed along the direction in which the tissue density gradient in the operating bone of the surgical object decreases the fastest, so that the execution module can start from the lower-density cancellous mass when performing the nail insertion operation. When the bone is inserted, the resistance received is small, which ensures the safety of the nailing operation.

Figure overview

The accompanying drawings are included to provide a further understanding of the present application, and they are included and constitute a part of the present application. The accompanying drawings show the embodiments of the present application, and together with the description, serve to explain the principle of the present invention.

In the attached picture:

Fig. 1 is a block diagram of a spinal surgery robotic system for nailing operations according to an embodiment of the present invention;

Fig. 2 is a block diagram of the path planning module in the spinal surgery robot system according to an embodiment of the present invention;

Fig. 3 is a block diagram of a modeling unit in a spinal surgery robot according to an embodiment of the present invention;

Fig. 4 is a block diagram of an execution module in a spinal surgery robot according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of a spinal surgery robot system performing a nailing operation according to an embodiment of the present invention;

6 is a block diagram of a spinal surgery robot system according to another embodiment of the present invention;

7 is a block diagram of a control module in a spinal surgery robot system according to another embodiment of the present invention;

Fig. 8 is a schematic diagram of a spinal surgery robot system according to an embodiment of the present invention.

Preferred Embodiments of the Invention

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. Unless otherwise apparent from context or otherwise indicated, like reference numerals in the figures represent like structures or operations.

As indicated in this application and claims, the terms "a", "an", "an" and/or "the" do not refer to the singular and may include the plural unless the context clearly indicates an exception. Generally speaking, the terms "comprising" and "comprising" only suggest the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list, and the method or device may also contain other steps or elements.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present application, it should be understood that orientation words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. indicate the orientation Or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description. In the absence of a contrary statement, these orientation words do not indicate or imply the device or element referred to It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the protection scope of the present application; the orientation words "inner and outer" refer to the inner and outer relative to the outline of each component itself.

For the convenience of description, spatially relative terms may be used here, such as "on ...", "over ...", "on the surface of ...", "above", etc., to describe the The spatial positional relationship between one device or feature shown and other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, devices described as "above" or "above" other devices or configurations would then be oriented "beneath" or "above" the other devices or configurations. under other devices or configurations". Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. To limit the protection scope of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant according to his or her judgment, and their detailed meanings are listed in this article described in the relevant section of the description. Furthermore, it is required that this application be understood not only by the actual terms used, but also by the meaning implied by each term.

Fig. 1 is a block diagram of a spinal surgery robotic system for nail placement according to an embodiment of the present invention. Referring to FIG. 1 , the spinal surgery robot system 100 of this embodiment includes a path planning module 110 , an execution module 120 and a control module 130 . Wherein, the path planning module 110 is used to generate the planned operation path of the nail setting operation, and the planned operation path is distributed along the direction in which the tissue density gradient in the operating bone of the surgical object decreases the fastest; the execution module 120 is used to execute the nail setting operation; the control module 130 is used to control the execution module 120 to execute the nailing operation according to the planned operation path.

The present invention does not limit the specific position of the working skeleton. Preferably, the working bone is the posterior cervical spine in posterior cervical pedicle screw fixation.

The bone structure mainly includes cortical bone and cancellous bone, wherein the cortical bone has a higher density on the outside of the bone, while the cancellous bone has a lower density in the middle of the bone. According to the characteristics of bone structure, if the pedicle screw can be accurately placed in the cancellous bone of the cervical lamina without penetrating the cortical bone under the cervical lamina, the safety of the screw insertion operation can be guaranteed. According to the characteristics of the skeletal structure, the planned operation path and the operation path of the spinal surgery robot system are distributed along the cancellous bone structure as much as possible, and the resistance encountered is small, thereby ensuring the safety of the nailing operation.

Fig. 2 is a block diagram of a path planning module in the spinal surgery robot system according to an embodiment of the present invention. Referring to FIG. 2 , in some embodiments, the path planning module 110 includes a modeling unit 210 and a path planning unit 220 . Wherein, the modeling unit 210 is used for establishing a three-dimensional model of the working bone according to the preoperative three-dimensional image of the working bone; the path planning unit 220 is used for forming a planned operation path on the three-dimensional model.

Fig. 3 is a block diagram of a modeling unit in a spinal surgery robot according to an embodiment of the present invention. It shows a block diagram of specific modules that may be included in the modeling unit 210 in the embodiment shown in FIG. 2 . Referring to FIG. 3 , in some embodiments, the modeling unit 210 includes an image acquisition unit 211 , an image segmentation unit 212 and a three-dimensional reconstruction unit 213 . Wherein, the image acquisition unit 211 is used for acquiring a medical tomographic image of the spine of the surgical object. The present invention does not limit the specific source of the image, which may include but not limited to CT, MRI and so on. The image segmentation unit 212 is configured to receive the medical tomographic image, and segment the obtained multiple medical tomographic images to obtain two-dimensional images of different layers of the operating bone of the surgical object. The present invention does not limit the method specifically used for image segmentation. Preferably, image segmentation is performed using a deep learning algorithm, which may include but not limited to U-Net network algorithm and the like. The three-dimensional reconstruction unit 213 receives two-dimensional images of different layers of the operating skeleton, and performs three-dimensional reconstruction of the image according to these two-dimensional images, to obtain a three-dimensional model of the operating skeleton. The surgeon can select a lesion area on the three-dimensional model, and generate a planned operation path through the path planning unit 220 .

The path planning unit 220 can provide a doctor-oriented display and operation interface. The image of the operating skeleton can be displayed on the display and operation interface, and the planned operation path can be displayed on the image. The doctor can select the lesion area on the three-dimensional model through the display and operation interface, and edit and adjust the displayed planned operation path through human-computer interaction.

It can be understood that the planned operation path is automatically formed by the path planning unit 220 according to the lesion area, and can be edited and modified by a doctor. The planned manipulation path may differ from the surgical manipulation path actually performed by the spine surgery robot. The spinal surgery robot performs the nail setting operation according to the surgical operation path generated by the planned operation path.

In some embodiments, the three-dimensional model formed by the modeling unit 210 includes structural information of the operating bone, the structural information includes the tissue density of each position in the operating bone, and the tissue density is related to the basic information of the surgical object.

In some embodiments, the basic information includes age, gender, height, weight, and medical history.

In these embodiments, a large number of data of patients with spinal diseases are collected, and the data includes the basic information of the patients and the structural information of their working bones. Structural information of the operating skeleton of each patient may be obtained from medical images of the operating skeleton. After 3D reconstruction of the image, important soft tissue information such as bony structures, nerves, and ligaments in the operating bone area can be obtained. These different structures and tissues have different densities. The structural information included in the three-dimensional model formed by the modeling unit 210 of the present invention includes the tissue density of each position in the working bone, and the tissue density includes the density of non-bone structures in the working bone, such as soft tissues such as ligaments, and bone Sexual structure of bone density.

In some embodiments, an artificial intelligence algorithm can be used to establish the relationship between the patient's basic information and the tissue density at each position in the operating skeleton. When performing the nail setting operation, for a specific surgical object, the structural information of the tissue density of each position in the operating bone can be estimated according to the basic information of the surgical object, so that the planned operation path can be generated based on the structural information, so that the planned operation path Distributed along the direction in which the tissue density gradient in the operating bone of the surgical object decreases the fastest.

According to the above-mentioned embodiment, the direction in which the gradient of the tissue density in the operating bone decreases the fastest indicates that the planned operation path moves toward the position where the cancellous bone with a lower density is located. In this way, when the screw insertion operation is performed, the control module 130 guides the execution module 120 to advance along the planned operation path, so that the screw can be inserted into the position of the cancellous bone, the resistance encountered by the screw is small, and the operation safety is high.

Fig. 4 is a block diagram of an execution module in a spinal surgery robot according to an embodiment of the present invention. Referring to FIG. 4 , in some embodiments, the execution module 120 in the spinal surgery robot system of the present invention includes a nail setting manipulator 121 and a force sensor 122 . Among them, the nail-setting manipulator 121 is arranged at the end of the operation performing arm, and is used for performing the nail-setting operation; the mechanical sensing device 122 is arranged in the nail-setting manipulator, and is used for detecting the operation received by the nail-setting manipulator 121 from the surgical object. Bone force Fr.

In these embodiments, the control module 130 in the robot system for spinal surgery of the present invention is also used to generate the surgical operation path according to the planned operation path and the force Fr, and each position on the planned operation path has a corresponding preoperative simulation feedback function Force Fs, each position on the surgical operation path has a corresponding force Fr, and the first difference between the active force Fr at each position on the surgical operation path and the preoperative simulated feedback force Fs is within the preset threshold Th within the range; the control module controls the execution module to execute the nail setting operation according to the surgical operation path.

It can be understood that, in an ideal situation, the control module 130 controls the execution module 120 to execute the nailing operation according to the planned operation path. However, when the nail insertion operation is actually performed, it may be necessary to adjust the planned operation path due to reasons such as bone abnormality or abnormal movement of the surgical object. According to the above-mentioned embodiment, during the operation, the nail setting manipulator 121 can obtain the force from the working bone in real time through the mechanical sensing device 122, the force Fr is generated by the nail setting manipulator 121 acting on the working bone reaction force. Before the operation, the preoperative simulated feedback force Fs of each position on the working bone can also be established according to the three-dimensional model of the working bone obtained by the modeling unit 210 . It can be understood that during the operation, the nail setting manipulator 121 advances toward the working bone in a certain direction and speed, and the force Fr and the preoperative simulated feedback force Fs are related to parameters such as the direction and speed of the nail setting manipulator 121 . That is to say, the preoperative simulated feedback force Fs of each position on the operating bone established by the present invention corresponds to some parameters, these parameters include but not limited to: the position of the force point, the direction and speed of the nail setting manipulator 121, etc. .

In some embodiments, the force sensing device 122 includes a multi-dimensional torque sensor. According to the force sensing device 122, the forces Fr experienced by the staple setting manipulator 121 in multiple directions can be obtained. Therefore, the force Fr may include multiple forces received in multiple directions. The acting force Fr is also related to the position of the force receiving point, the direction and speed of the nail setting manipulator 121, and the like.

During the nail setting operation, the nail setting manipulator 121 can obtain the force Fr in real time, and the control module 130 compares the force Fr at the position of the force point, the direction and speed of the nail setting manipulator 121 with the preoperative simulation Feedback force Fs, if │Fr-Fs│≤Th, then the control module 130 makes the surgical operation path equal to the planned operation path, and controls the nail setting manipulator 121 to advance according to the surgical operation path; if │Fr-Fs│>Th, then The control module 130 adjusts the planned operation path, generates the adjusted planned operation path, and obtains a new force Fr_new, if │Fr_new-Fs│≤Th, then makes the adjusted planned operation path as the surgical operation path, if │Fr_new- Fs│>Th, then the control module 130 continues to adjust the planned operation path until the first difference between the adjusted force and the preoperative simulated feedback force Fs is within the range of the preset threshold Th.

According to an embodiment of the present invention, in the surgical operation path, the first difference between the force Fr at each position of the working bone and the preoperative simulated feedback force Fs at that position is all within the range of the preset threshold Th.

It can be understood that the preset threshold Th is the same physical quantity as the force Fr and has the same dimension.

In some embodiments, the control module 130 in the robot system for spinal surgery of the present invention is also used to adjust the direction of the nail setting manipulator 121 at each position, obtain multiple acting forces Fr in multiple directions, and compare multiple acting forces. For the second difference between the force Fr and the preoperative simulated feedback force Fs at this position, the direction with the smallest second difference is taken as the operating direction of the nail-setting manipulator.

According to these embodiments, for a certain position in the working skeleton, the control module 130 can control the direction of the nail setting manipulator 121 to make the nail setting manipulator 121 move in multiple directions, thereby obtaining multiple acting forces Fr. The second difference between these acting forces Fr and the preoperative simulated feedback acting force Fs are both within the range of the preset threshold Th. However, for different directions, the second difference between the obtained acting force Fr and the preoperative simulated feedback acting force Fs may be different. For example: at position A, the force obtained in direction B1 is Fr_B1, the force obtained in direction B2 is Fr_B2, and │Fr_B1-Fs│<│Fr_B2-Fs│≤Th means the force obtained in direction B1 Fr_B1 is closer to Fs, therefore, selecting direction B1 as the operation direction of the nail-setting manipulator 121 in the surgical operation path can obtain smaller resistance, that is, the minimum resistance can be obtained among the multiple directions.

In some embodiments, when the direction of the staple setting operator is adjusted, the direction of the staple setting operator 121 changes within a preset direction range Th_d. In some embodiments, the preset direction range Th_d is 5 degrees.

Fig. 5 is a schematic diagram of a spinal surgery robot system performing a nail placement operation according to an embodiment of the present invention. Referring to FIG. 5 , a screw 520 is provided at the front end of the nail setting manipulator 510 , and the front end of the screw 520 has been implanted into the working bone 530 . Fig. 5 is a schematic diagram of the skeleton of the cervical spine, which is not intended to limit the specific position of the working skeleton of the present invention. Referring to FIG. 5 , it can be understood that the control module 130 controls the position and direction of the screw setting manipulator 510 so as to control the position and direction of screw insertion into the working bone 530 . A mechanical sensor is provided in the staple setting manipulator 510 . The nail setting manipulator 510 shown in FIG. 5 is a specific embodiment of the nail setting manipulator 121 shown in FIG. 4 , the foregoing description can be used to illustrate the nail setting manipulator 510, and the same content will not be expanded .

Fig. 6 is a block diagram of a spinal surgery robot system according to another embodiment of the present invention. Referring to FIG. 6 , compared with the embodiment shown in FIG. 1 , the spinal surgery robotic system 600 of this embodiment includes a navigation and positioning module 640 in addition to a path planning module 610 , an execution module 620 and a control module 630 , It is used to obtain the spatial pose of the operating skeleton and the spatial pose of the execution arm of the spine surgery robot, and establish the spatial mapping relationship between the operating skeleton and the execution arm.

Fig. 7 is a block diagram of a control module in a spinal surgery robot system according to another embodiment of the present invention. In these embodiments, the control module 630 further includes an image registration unit 631 , a spatial mapping unit 632 and a path conversion unit 633 . Among them, the image registration unit 631 is used to register the 3D model with the intraoperative 2D image of the surgical object to obtain the spatial information of the registered image; the spatial mapping unit 632 is used to use the spatial information of the registered image and the spatial position of the operation The posture and the space pose of the execution arm are mapped in the unified space coordinates; the path conversion unit 633 is used to transform the planned operation path into the surgical operation path in the unified space coordinates.

Referring to Fig. 6, in some embodiments, the robotic system 600 for spinal surgery also includes a human-computer interaction module 650, which is used to generate a simulated force according to the force, so that the operator receives the simulated force and controls the movement of the actuator arm through the control module. move.

In some embodiments, the human-computer interaction module 650 may be a master-slave hand device, a sensing glove, and the like. According to these embodiments, the operator can directly manually control the execution arm, directly feel the reaction force of the working bone, and control the movement of the operation execution arm in real time according to the force.

Referring to Fig. 6, in some embodiments, the robotic system 600 for spinal surgery further includes a safety module 660 for real-time monitoring of the active force, and when the active force exceeds a safe range, the safety module 660 controls the execution arm to stop the surgical operation.

In the actual surgical operation, there will be some special situations, such as the working bone is particularly hard, or the surgical object shakes, etc., and the surgical operation needs to be adjusted. For the case where the performing arm automatically performs surgical operations, by obtaining the force from the operating bone, it can be used to feed back the specific force of the operating bone. The security range can be set as required. When the force exceeds the safe range, the safety module 660 sends a signal to the control module 630, and the control module 630 controls the execution module 620, that is, the execution arm stops the surgical operation to further ensure the safety of the operation.

In some embodiments, the robot system for spinal surgery of the present invention may further include a control mode selection unit for selecting an automatic control mode or a manual control mode. In the automatic control mode, the performing arm can perform a surgical operation according to the obtained surgical operation path. In the manual control mode, an operator such as a doctor can control the execution arm to perform a surgical operation according to the surgical operation path. Whether it is automatic control or manual control, the surgical manipulator is driven by the execution arm to perform the nail placement operation, which can improve the efficiency and accuracy of the operation, and reduce the risk of radiation exposure to the doctor during the operation.

Fig. 8 is a schematic diagram of a spinal surgery robot system according to an embodiment of the present invention. Referring to FIG. 8 , it includes a console 810 , an execution arm 820 , a navigation and positioning device 830 , and an intraoperative imaging device 840 . The surgical object is set on the surgical bed 850 . With reference to the embodiments shown in FIG. 6 and FIG. 7 , the route planning module 610 , the control module 630 , the security module 660 and the human-computer interaction module 650 can all be included in the console 810 . The execution module 620 may include an execution arm 820 , and at the end of the execution arm 820 , a nail setting manipulator 821 . The navigation and positioning module 640 may include a navigation and positioning device 830, which is set in the operating environment and used to obtain the spatial pose of the operating skeleton 801 and the execution arm 820 in real time. The intraoperative imaging device 840 is used to acquire the intraoperative two-dimensional image of the surgical object, and send it to the image registration unit 631 to obtain the spatial information of the registered image. In some embodiments, the intraoperative imaging device 840 is a C-arm machine or an O-arm machine.

Referring to FIG. 8 , the console 810 may include a display device and an input device, and the doctor may use the path planning module 610 to perform operations such as selecting a lesion area, editing and planning an operation path, etc. on the three-dimensional model of the operating skeleton. In some embodiments, the console 810 further includes a control rod 811 through which the doctor can directly control the movement of the staple manipulator 821 . In the embodiment shown in FIG. 8 , the control rod 811 is a pen-holding device, which meets the design requirements of ergonomics and is convenient for doctors to use. In some embodiments, the control rod 811 can belong to the human-computer interaction module 650, and the force is fed back to the operator through the control rod 811, so that the operator can perceive the reaction force of the surgical manipulator from the operating bone in real time.

According to the robot system for spinal surgery of the present invention, the performing arm can be used to automatically perform the operation of nailing, which improves the operation efficiency and precision, greatly reduces the burden on the doctor, and reduces the radiation risk suffered by the doctor during the operation; in the nailing operation, through The planned operation path generated by the path planning module is distributed along the direction of the fastest decline in tissue density gradient in the operating bone of the surgical object, which can ensure the safety of the operation; and by obtaining the force of the operating bone in real time during the operation, the planning can be adjusted in real time The operation path is used to optimize the obtained operation path.

The basic concepts have been described above, and obviously, for those skilled in the art, the above disclosure of the invention is only an example, and does not constitute a limitation to the present application. Although not expressly stated here, various modifications, improvements and amendments to this application may be made by those skilled in the art. Such modifications, improvements, and amendments are suggested in this application, so such modifications, improvements, and amendments still belong to the spirit and scope of the exemplary embodiments of this application.

Meanwhile, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and/or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that two or more references to "an embodiment" or "an embodiment" or "an alternative embodiment" in different places in this specification do not necessarily refer to the same embodiment . In addition, certain features, structures or characteristics of one or more embodiments of the present application may be properly combined.

In the same way, it should be noted that in order to simplify the expression disclosed in the present application and help the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of the present application, sometimes multiple features are combined into one embodiment, drawings or descriptions thereof. This method of disclosure does not, however, imply that the subject matter of the application requires more features than are recited in the claims. Indeed, embodiment features are less than all features of a single foregoing disclosed embodiment.

In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of the embodiments use the modifiers "about", "approximately" or "substantially" in some examples. grooming. Unless otherwise stated, "about", "approximately" or "substantially" indicates that the stated figure allows for a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that can vary depending upon the desired characteristics of individual embodiments. In some embodiments, numerical parameters shall take into account the specified significant digits and adopt the general digit reservation method. Although the numerical ranges and parameters used in some embodiments of the present application to confirm the breadth of the scope are approximate values, in specific embodiments, such numerical values are set as precisely as practicable.

Claims

A spinal surgery robotic system for screw placement, characterized in that it comprises:

The path planning module is used to generate a planned operation path for the nail setting operation, and the planned operation path is distributed along the direction in which the tissue density gradient in the operating bone of the surgical object decreases the fastest;

an executing module, configured to execute the nail setting operation; and

A control module, configured to control the execution module to execute the nail setting operation according to the planned operation path.
The robot system for spinal surgery according to claim 1, wherein the path planning module comprises:

a modeling unit, configured to establish a three-dimensional model of the operating bone according to the preoperative three-dimensional image of the operating bone;

A path planning unit, configured to form the planned operation path on the three-dimensional model.
The robot system for spinal surgery according to claim 2, wherein the three-dimensional model includes structural information of the operating skeleton, and the structural information includes the tissue density of each position in the operating skeleton, the tissue density and The basic information of the surgical object is related.
The spinal surgery robot system according to claim 3, wherein said basic information includes age, gender, height, weight and medical history.
The robot system for spinal surgery according to claim 2, wherein each position on the planned operation path has a corresponding preoperative simulated feedback force, and the preoperative simulated feedback force is proportional to the tissue density. correspond.
The robotic system for spinal surgery according to claim 1, wherein the execution module comprises:

A nail-setting manipulator is arranged at the end of the operation performing arm for performing the nail-setting operation; and

The force sensing device is arranged in the nail setting manipulator, and is used for detecting the acting force received by the nail setting manipulator from the operating bone of the surgical object.
The robot system for spinal surgery according to claim 6, wherein the control module is further configured to generate a surgical operation path according to the planned operation path and the force, and each position on the planned operation path has Corresponding preoperative simulation feedback force, each position on the surgical operation path has a corresponding force, the force of each position on the surgical operation path and the preoperative simulation the first difference between the feedback forces is within a predetermined threshold; and

The control module controls the executing module to execute the nail setting operation according to the surgical operation path.
The robot system for spinal surgery according to claim 7, wherein the control module is further used to adjust the direction of the nail setting manipulator at each of the positions to obtain multiple actions in multiple directions. force, compare the second difference between the multiple acting forces and the preoperative simulated feedback acting force at the position, and take the direction with the smallest second difference as the operating direction of the nail-setting manipulator .
The robot system for spinal surgery according to claim 6, further comprising: a human-computer interaction module, configured to generate a simulated force according to the force, so that the operator receives the simulated force and passes the control A module controls movement of the actuator arm.
The robot system for spinal surgery according to claim 6, further comprising a safety module for monitoring the active force in real time, and when the active force exceeds a safe range, the safety module controls the execution arm to stop The surgical operation.
The robotic system for spinal surgery according to claim 2, further comprising:

A navigation and positioning module, configured to obtain the spatial pose of the operating skeleton and the spatial pose of the execution arm of the spinal surgery robot, and establish a spatial mapping relationship between the operating skeleton and the execution arm;

The control module further includes: an image registration unit, configured to register the three-dimensional model with the intraoperative two-dimensional image of the surgical object, to obtain spatial information of the registered image; a spatial mapping unit, configured to align the The spatial information of the registration image, the spatial pose of the working skeleton and the spatial pose of the execution arm are mapped in a unified spatial coordinate; a path conversion unit is configured to convert the planned operation path into the unified spatial coordinate The surgical operation path.