Craniofacial bone malformation reduction whole-process accurate surgery system based on mutual collaboration of main and auxiliary robots and surgery operation method adopted by system

Abstract

The invention discloses a craniofacial bone malformation reduction surgery system based on mutual collaboration of main and auxiliary robots. The craniofacial bone malformation reduction surgery system comprises mechanical arms, a craniofacial bone-cutting milling cutter device, a bone flap grabbing device, a ventriculoscope detecting device, AR glasses used for wearing of clinicians, a computer,a display screen, a control system and a locating marker, wherein the mechanical arms comprise a main mechanical arm and an auxiliary mechanical arm, the ventriculoscope detecting device is mounted onthe craniofacial bone-cutting milling cutter device, and the craniofacial bone-cutting milling cutter device is mounted at the tail end of the main mechanical arm; the bone flap grabbing device is mounted at the tail end of the auxiliary mechanical arm. For the craniofacial bone malformation reduction surgery system based on mutual collaboration of the main and auxiliary robots and a surgery operation method adopted by the system, the superposition of a three-dimensional operation plan and the neurocranium of a pediatric patient is realized, meanwhile, automatic tracking and navigational positioning are realized, the main and auxiliary robots realize mutual collaboration, the surgery operation is realized, and a doctor can intervene the operation at the right time.

Description

technical field [0001] The invention relates to the field of brain surgery, in particular to a man-machine cooperative surgery system combined with primary and secondary robots, which is used in the whole process of precise surgery for craniofacial bone deformity reconstruction in children, and a surgical operation method thereof. Background technique [0002] There are many reasons for craniofacial bone deformity, but it is mainly caused by congenital craniosynostosis. Craniosynostosis is a congenital developmental disorder of the skull, which refers to various head deformities formed by premature ossification and closure of single or multiple cranial sutures before and after birth, which may be accompanied or secondary to chronic intracranial pressure Increased height, abnormal development of the skull, eye sockets, and glyophysis. In severe cases, some complications may appear, such as hydrocephalus, intracranial hypertension, cerebellar tonsillopathy, optic nerve compre...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the dependence of the existing craniofacial bone deformity plastic surgery on the doctor's experience, the doctor's labor intensity is high, the operation time is long, the amount of anesthesia is large, the precision is low, the surgical trauma is large, and the pediatric craniofacial bone deformity plastic surgery based on the guide plate Insufficient flexibility, and can only complete osteotomy guidance but cannot realize the whole process guidance of trimming, displacement and fixation, image-based navigation surgery is not intuitive, etc., the present invention proposes a craniofacial The whole-process precise surgery system for bone deformity reconstruction and its operation method, the process is mainly that the clinician manually separates the scalp tissue, exposes the brain and skull in the operation area, and then the main robot performs the osteotomy on the brain and skull according to the preoperative planning osteotomy plan. Determine the route for precise osteotomy bone flap, and at the same time, the auxiliary robot assists the main robot to fix the position of the osteotomy bone flap to prevent errors caused by osteotomy drift; after the main robot completes the osteotomy, the auxiliary robot quickly passes through the bone flap gripper Displace the bone flap after osteotomy to assist the main robot to complete the subsequent splicing and fixation, so as to realize the whole process of precise surgical operation of osteotomy, bone flap trimming, displacement and fixation; at the same time, the clinician wears the set and can automatically track Augmented reality glasses with navigation and positioning can intervene in time and coordinate the robot to accurately complete the entire surgical operation process

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