Positioning assistance device and positioning assistance method

Abstract

The present invention relates to a positioning assistance device and positioning assistance method. The device includes: a base, a robotic arm movably connected to the base, the robotic arm being used to perform surgical operations; a positioning device, the positioning device being disposed on the base and configured to transmit a positioning signal to a surgical table; and a control unit, the control unit communicating with the robotic arm to control the movement of the robotic arm. The control unit also communicates with the positioning device to control the positioning device to transmit positioning information to the surgical table, and to determine the spatial relationship between the base and the surgical table and a target working area based on the positioning information. The present invention controls the positioning device to output positioning information relative to the surgical table, and uses the positional relationship of the positioning information to allow an operator to determine the spatial relationship between the base and the surgical table, as well as to determine the target working area based on the positioning information. This method solves the problem of difficulty in aligning and positioning existing medical devices with the surgical table, and provides positioning assistance for determining the target location of a surgical incision.

Description

Technical Field

[0001] The present invention relates to a positioning auxiliary device and a positioning auxiliary method, and relates to the technical field of medical devices. Background Art

[0002] In minimally invasive medical procedures, preoperative arrangements are usually required before the operation is performed. This involves moving the medical device to the vicinity of the desired working position, and then adjusting the position and direction to position the medical device and the operating table in the optimal position, thereby determining the target position of the surgical incision and facilitating the mechanical operating arm of the medical device to smoothly enter the human body through the sheath channel at the surgical incision for surgical operation.

[0003] Existing minimally invasive medical devices lack positioning devices, requiring significant time and effort to adjust the device's position during preoperative setup. This process requires repeated adjustments to ensure the device's manipulator arm is optimally positioned relative to the surgical table, ensuring optimal range of motion during surgery. A small number of devices utilize complex positioning equipment to achieve target alignment, often increasing device cost and complicating the adjustment process. Summary of the Invention

[0004] In view of the above problems, the object of the present invention is to provide a positioning assistance device and a positioning assistance method that can simplify the alignment process of existing medical instruments and surgical workbenches, and can assist in determining the target position of the surgical incision.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention provides a positioning assistance device, the device comprising:

[0007] a base, to which a robotic arm is movably connected, the robotic arm being used for performing surgical operations;

[0008] A positioning device, the positioning device being arranged on the base and configured to transmit a positioning signal to the operating table;

[0009] A control unit, wherein the control unit communicates with the robotic arm to control the movement of the robotic arm, and the control unit also communicates with the positioning device to control the positioning device to transmit positioning information to the operating table, and determines the spatial relationship between the base and the operating table and the target working area based on the positioning information.

[0010] Preferably, the positioning device includes a first positioning device and a second positioning device located on the same center line and spaced apart;

[0011] The control unit controls the first positioning device and the second positioning device to output first positioning information and second positioning information respectively, determines the target working area according to the first positioning information or the second positioning information, and determines the spatial relationship between the base and the operating table according to the relative position relationship between the first positioning information and the second positioning information.

[0012] Preferably, the projection shape of the first positioning information on the operating table is circular; the projection shape of the second positioning information on the operating table is cross.

[0013] Preferably, the relative position relationship between the first positioning information and the second positioning information includes:

[0014] a positional relationship when the circular projection of the first positioning information is tangent to the cross projection of the second positioning information;

[0015] The positional relationship when the circular projection of the first positioning information and the cross projection of the second positioning information are not tangent.

[0016] Preferably, the appropriate spatial relationship between the base and the operating table is determined based on the positional relationship when the circular projection of the first positioning information is tangent to the cross projection of the second positioning information.

[0017] Preferably, the base includes a column and a beam vertically connected to the column;

[0018] The column includes a displacement adjustment mechanism, and the displacement adjustment mechanism is used to adjust the height of the column in the vertical direction;

[0019] The robotic arm is movably arranged on the crossbeam;

[0020] The positioning device is fixedly arranged on the lower surface of the beam away from the end of the column.

[0021] Preferably, the positional relationship between the first positioning information and the second positioning information varies with the height of the base in the vertical direction.

[0022] Preferably, when the distance between the first positioning device and the column is greater than the distance between the second positioning device and the column, it is determined that the target working area is located within the circular projection of the first positioning information.

[0023] Preferably, when the distance between the first positioning device and the column is smaller than the distance between the second positioning device and the column, it is determined that the target working area is located within the circumscribed circle of the cross projection of the second positioning information.

[0024] In a second aspect, the present invention further provides a positioning assistance method, comprising:

[0025] S1. Determine the position of the operating table, and move the base closer to the operating table based on the position of the operating table;

[0026] S2. After the base is moved, the control unit controls the movement of the robotic arm so that the positioning information emitted by the positioning device can reach the operating table smoothly;

[0027] S3. After the robotic arm has finished moving, the control unit controls the positioning device to send a positioning signal, and determines the spatial relationship between the base and the operating table and the target working area based on the positioning information.

[0028] Preferably, the target working area is determined according to a partial projection shape or a partial projection derivative shape of the positioning information on the operating table, and the target working area is aligned with the actual working area.

[0029] Furthermore, the spatial relationship of the base relative to the operating table is adjusted according to the positional relationship of the positioning information, wherein the spatial relationship includes the horizontal distance and vertical distance of the base relative to the operating table; the positional relationship of the positioning information includes the positional relationship between the projection shapes of the positioning information on the operating table, and the spatial relationship of the positioning auxiliary device relative to the operating table is determined by the specific positional relationship appearing in the positional relationship of the positioning information.

[0030] Due to the adoption of the above technical solution, the present invention has the following advantages: the present invention is used to control the positioning device to output positioning information relative to the operating table, and the positional relationship of the positioning information is used for the operator to determine the spatial relationship between the base and the operating table, and to determine the target working area based on the positioning information, so as to solve the problem of difficulty in aligning and positioning existing medical devices with the operating table, and to assist in determining the target position of the surgical incision. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. Throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0032] Figure 1 This is a schematic diagram of the position of a positioning auxiliary device according to Example 1 of the present invention, where the arrows indicate the direction of the columns;

[0033] Figure 2 This is a schematic diagram of the position of another positioning auxiliary device according to Example 1 of the present invention, where the arrows indicate the direction of the columns;

[0034] The accompanying drawings are marked as follows: 1. crossbeam, 2. operating table, 3. first positioning device, 4. second positioning device. DETAILED DESCRIPTION

[0035] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0036] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0037] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inner side," "outer side," "lower side," "upper side," "left," "right," etc. Such 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.

[0038] In the process of using the positioning auxiliary device, the present invention defines the end close to the operator as the proximal end or the rear end, and the end close to the surgical patient as the distal end or the front end.

[0039] Example 1

[0040] This embodiment provides a positioning auxiliary device, including a base, a mechanical arm, a positioning device and a control unit.

[0041] A base, to which a robotic arm is movably connected, the robotic arm being used by an operator to perform surgery on a patient on an operating table;

[0042] A positioning device is fixedly provided on the base, and the positioning device is used to transmit a positioning signal to the operating table;

[0043] The control unit is coupled to the robotic arm and the positioning device respectively, and is used to control the movement of the robotic arm and control the positioning device to output positioning information to the operating table, so that the operator can determine the spatial relationship between the robotic arm and the operating table based on the positioning information, and determine the target working area based on the positioning information.

[0044] The base may include a column (not shown in the figure, only the direction of the column is indicated by an arrow) and a beam 1 vertically connected to the column. The robotic arm is movably arranged on the beam 1, and the positioning device is arranged on the lower surface of the beam 1 away from the end of the column, as shown in the figure. The beam 1 is arranged on the top of the column, and the positioning device is arranged on the center line of the lower surface of the beam 1 along the length direction, and is located at the end away from the column, so as to avoid the presence of the robotic arm blocking the positioning device from outputting the positioning signal and projecting it onto the operating table 2 or the patient's body on the operating table 2, affecting the positioning effect. Furthermore, a pulley may be provided at the bottom of the base, so that the operator can move the base to the desired active position. Furthermore, a displacement adjustment mechanism may be provided on the base to adjust the height position of the base in the vertical direction.

[0045] The number of robotic arms is one or more, and the robotic arms can achieve multiple degrees of freedom of movement relative to the base through multiple joint groups, such as rotation, pitch, up and down displacement, and left and right swing. The far end of the robotic arm is connected to a surgical tool, and related surgical operations are performed through the surgical tool.

[0046] The control unit can be provided separately or on the positioning aid device. The control unit can include a computer control system or a physical button unit on the device. The control unit can be connected to the robotic arm and the positioning device by wired or wireless communication, without limitation. During operation, the control unit controls the movement of the robotic arm's multiple joint groups to adjust the robotic arm's position and posture, and controls the operating state of the positioning device.

[0047] like Figure 1As shown, the positioning device can be a laser positioning device or a positioning device of other types. Furthermore, the positioning device includes a first positioning device 3 and a second positioning device 4 that are spaced apart from each other along the center line of the beam 1; further, the first positioning device 3 and the second positioning device 4 are spaced apart and distributed on the same center line. The control unit controls the first positioning device 3 and the second positioning device 4 to output the first positioning information and the second positioning information respectively, and the target working area can be determined according to the first positioning information or the second positioning information. By aligning the determined target working area with the actual working area, the actual working area refers to the position range of the patient's incision during surgery. Then, the operator determines the spatial relationship between the base and the operating table 2 according to the positional relationship between the first positioning information and the second positioning information, thereby determining the relationship between the robotic arm on the base and the operating table, so as to facilitate subsequent related surgical operations. For example, the first and second positioning information may be light spot information. As the height of the base changes, the light spot information projected onto the surgical table 2 also scales. When the light spot information of the first and second positioning information is in a specific positional relationship, the operator can determine the appropriate spatial relationship between the base and the surgical table 2 based on this specific positional relationship. When this spatial relationship is satisfied, the operating space during surgery is within the optimal range. In this case, the operator determines the target working area based on the light spot information at this specific positional relationship. For example, when a patient is positioned on the surgical table 2, the operator determines the target working area based on the light spot projection range or projection information of the first or second positioning information on the patient's body. The target working area is aligned with the position range of the patient's incision during surgery, so that the actual patient incision position falls within the target working area. The height of the base is then adjusted to ensure that the light spot information of the first and second positioning information is in a specific positional relationship, thereby determining the appropriate spatial relationship between the base and the patient on the surgical table 2, and further determining the spatial relationship between the robotic arm and the patient. Therefore, the position adjustment of the base and the positioning of the positioning device can be used to accelerate the preoperative arrangement time, facilitate the operator to quickly and accurately determine the target working area and align it with the actual working area, and smoothly carry out subsequent surgical work, thereby solving the problem of difficulty in aligning and positioning existing medical equipment with the operating table 2, and providing positioning assistance to determine the target position for aligning the surgical incision.

[0048] In the above embodiment, the projection of the first positioning information on the surgical table 2 is circular, and the projection of the second positioning information on the surgical table is cross-shaped. To facilitate observation by the operator, the projection of the first positioning information can be in the shape of a circular spot, and the projection of the second positioning information can be in the shape of a cross-shaped spot. Furthermore, the positional relationship between the first positioning information and the second positioning information includes: the positional relationship when the circular spot projection of the first positioning information and the cross-shaped spot projection of the second positioning information are tangent, and the positional relationship when the circular spot projection of the first positioning information and the cross-shaped spot projection of the second positioning information are not tangent, so that the operator can determine the spatial relationship between the base and the surgical table 2 based on the positional relationship when they are tangent. The size and position of the circular light spot and the cross light spot will change as the height of the base changes. When the target working area is determined by the range of the circular light spot or the cross light spot and aligned with the position range of the patient's incision during the actual operation, and then the height of the base is adjusted, when the circular light spot and the cross light spot are just tangent to each other, according to this specific position relationship, the vertical height and horizontal distance of the base from the operating table 2 at this time are determined to be the optimal position, that is, the spatial relationship between the robotic arm and the operating table 2 is determined. When this spatial relationship is met, the operating space during the operation is in the optimal range.

[0049] In the above embodiment, if Figure 1 As shown, the distance between the first positioning device 3 and the column is greater than the distance between the second positioning device 4 and the column. Specifically, the first positioning device 3 is located closer to the end of the beam 1, and the second positioning device 4 is located further inboard of the end of the beam 1. At this time, the target working area is located within the circular light spot of the first positioning information, and the position of the patient's incision is determined based on the area of the circular light spot.

[0050] Example 2

[0051] like Figure 2 As shown, the positioning auxiliary equipment provided in this embodiment is basically the same as that in embodiment 1, except that the distance between the first positioning device 3 and the column is smaller than the distance between the second positioning device 4 and the column.

[0052] Specifically, the first positioning device 3 is located at a position further inside the end of the beam 1, and the second positioning device 4 is located at a position closer to the end of the beam 1. At this time, the target working area is located within the circumscribed circle of the cross projection of the second positioning information ( Figure 2 The dotted circle shown in FIG. 3 ) indicates that the position of the incision on the patient can be determined within the circumscribed circle area formed by the cross-shaped light spot.

[0053] Example 3

[0054] This embodiment provides a positioning assistance method, which includes:

[0055] S1, determining the position of the operating table 2, and moving the base based on the position of the operating table 2 to approach the operating table 2;

[0056] S2. After the base is moved, the control unit controls one or more robotic arms to move to the first position. The first position is the position where the positioning information of the positioning device can be projected onto the operating table 2. By moving the robotic arms, the presence of the robotic arms is prevented from blocking the output positioning information of the positioning device from being projected onto the operating table 2 or the patient's body, thereby affecting the positioning effect.

[0057] S3. After the robotic arm completes its movement, the control unit controls the positioning device to send a positioning signal. The operator adjusts the spatial relationship of the base relative to the operating table based on the positioning information and the positional relationship between the positioning information. The spatial relationship includes the horizontal and vertical distances of the base relative to the operating table. The positional relationship of the positioning information includes the positional relationship between the projections of the positioning information on the operating table 2. When a specific positional relationship appears in the positional relationship of the positioning information, the spatial relationship of the base relative to the operating table 2 is determined.

[0058] The target working area is determined based on the partial projection shape or partial projection derivative shape of the positioning information on the surgical table 2. For example, the operator can determine the target working area based on the range of the circular light spot or the range of the cross light spot at the time of the position relationship, that is, the location range of the patient incision during surgery, and align it with the actual location range of the patient incision during surgery to adjust the horizontal distance between the base and the surgical table 2 to the optimal position.

[0059] For example, the positioning device outputs different positioning information, such as a circular light spot projection of the first positioning information and a cross-shaped light spot projection of the second positioning information. By adjusting the vertical height of the base so that the circular light spot and the cross-shaped light spot just meet the tangent relationship, the vertical height of the base at this time is determined to be the optimal position from the surgical table 2 based on this specific positional relationship, thereby determining the spatial relationship between the robotic arm and the surgical table 2, and thus ensuring that the operating space during surgery is within the optimal range. This solves the existing problem of difficult alignment and positioning of medical instruments and surgical tables, and assists in determining the target location of the surgical incision.

[0060] The above embodiments are only used to illustrate the present invention, wherein the structure, connection mode and manufacturing process of each component can be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the scope of protection of the present invention.

Claims

1. A positioning auxiliary device, characterized in that: The device comprises: a base, to which a robotic arm is movably connected, the robotic arm being used for performing surgical operations; A positioning device, the positioning device is arranged on the base and is used to transmit positioning information to the operating table; the positioning information includes light spot information projected on the operating table; a control unit, the control unit communicating with the robotic arm to control the movement of the robotic arm, and the control unit further communicating with the positioning device to control the positioning device to transmit the positioning information to the operating table, and determining a spatial relationship between the base and the operating table and a target working area based on the positioning information; The base includes a column and a beam vertically connected to the column, the positioning device includes a first positioning device and a second positioning device arranged on the beam at the same center line and spaced apart, the control unit controls the first positioning device and the second positioning device to output first positioning information and second positioning information respectively, determines the target working area according to the first positioning information or the second positioning information, and determines the spatial relationship between the base and the operating table according to the relative positional relationship between the first positioning information and the second positioning information; The first positioning information includes first light spot information projected onto the operating table, and the second positioning information includes second light spot information projected onto the operating table. Determining the spatial relationship between the base and the operating table based on the relative positional relationship between the first positioning information and the second positioning information includes: determining the appropriate spatial relationship between the base and the operating table based on the first light spot information and the second light spot information satisfying a specific positional relationship.

2. A positioning auxiliary device according to claim 1, characterized in that: The first positioning information includes light spot information projected on the operating table in a circular shape; the second positioning information includes light spot information projected on the operating table in a cross shape.

3. A positioning auxiliary device according to claim 2, characterized in that: The relative position relationship between the first positioning information and the second positioning information includes: a positional relationship when the circular projection of the first positioning information is tangent to the cross projection of the second positioning information; The positional relationship when the circular projection of the first positioning information and the cross projection of the second positioning information are not tangent.

4. A positioning auxiliary device according to claim 3, characterized in that: The appropriate spatial relationship between the base and the operating table is determined based on the positional relationship when the circular projection of the first positioning information is tangent to the cross projection of the second positioning information.

5. A positioning auxiliary device according to any one of claims 1 to 4, characterized in that: The column includes a displacement adjustment mechanism, and the displacement adjustment mechanism is used to adjust the height of the column in the vertical direction; The robotic arm is movably arranged on the crossbeam; The first positioning device and the second positioning device are fixedly arranged on the lower surface of the beam away from the end of the column.

6. A positioning auxiliary device according to claim 5, characterized in that: The positional relationship between the first positioning information and the second positioning information varies with the height of the base along the vertical direction.

7. A positioning auxiliary device according to claim 5, characterized in that: When the distance between the first positioning device and the column is greater than the distance between the second positioning device and the column, it is determined that the target working area is located within the circular projection of the first positioning information.

8. The positioning auxiliary device according to claim 5, characterized in that: When the distance between the first positioning device and the column is smaller than the distance between the second positioning device and the column, it is determined that the target working area is located within the circumscribed circle of the cross projection of the second positioning information.

9. A positioning assistance method based on the positioning assistance device according to any one of claims 1 to 8, characterized in that include: S1. Determine the position of the operating table, and move the base closer to the operating table based on the position of the operating table; S2. After the base is moved, the control unit controls the movement of the robotic arm so that the positioning information emitted by the positioning device can reach the operating table smoothly; S3. After the robotic arm has finished moving, the control unit controls the positioning device to send a positioning signal, and determines the spatial relationship between the base and the operating table and the target working area based on the positioning information.

10. The positioning assistance method according to claim 9, characterized in that: The target working area is determined according to the partial projection shape or the partial projection derivative shape of the positioning information on the operating table, and the target working area is aligned with the actual working area.

11. The positioning assistance method according to claim 9, characterized in that: The spatial relationship of the base relative to the operating table is adjusted according to the positional relationship of the positioning information, wherein the spatial relationship includes the horizontal distance and vertical distance of the base relative to the operating table; the positional relationship of the positioning information includes the positional relationship between the projected shapes of the positioning information on the operating table, and the spatial relationship of the positioning auxiliary device relative to the operating table is determined by the specific positional relationship appearing in the positional relationship of the positioning information.

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