Surgical system and positioning navigation method

Abstract

The present invention relates to a surgical system and positioning navigation method, wherein a surgical unit is capable of moving to a target position of a target object, the target object having a first marking unit, the first marking unit including at least three non-collinear first markings disposed on the target object, the surgical unit having a second marking, an image acquisition unit for acquiring a first transformation relationship of the target position in a coordinate system where the first marking unit is located, a navigation unit for acquiring a second transformation relationship of the second marking in a coordinate system where the first marking unit is located, a control unit connected to the surgical unit, the control unit for generating a third transformation relationship between the target position and the surgical unit based on the first transformation relationship and the second transformation relationship, and controlling the surgical unit to move to the target position based on the third transformation relationship. The first transformation relationship can locate the target position, and acquiring the first transformation relationship only requires a single operation, requiring only one CT scan of the patient, significantly reducing risk.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a surgical system and a positioning navigation method. Background Art

[0002] Percutaneous lung biopsy is currently primarily based on preoperative computed tomography (CT) scans to determine the location of the lesion. The doctor then determines the puncture path based on clinical experience. During the puncture process, the doctor needs to use CT images to determine the location of the lesion multiple times, and then manually adjust the puncture angle to avoid important tissues until the lesion is hit. Therefore, because the entire puncture process relies entirely on CT images to determine the location of the lesion, if the doctor is inexperienced, the number of puncture angle adjustments usually needs to be increased, which means that the patient needs to be exposed to CT radiation more times, causing greater harm to the patient. In addition, each time the CT image is used to determine the location of the lesion and the puncture angle is adjusted, the doctor needs to exit the gantry hole of the CT equipment, which increases the operation time and operation risks. Summary of the Invention

[0003] Based on this, it is necessary to provide a surgical system and positioning navigation method to address the above-mentioned technical problems.

[0004] The present invention provides a surgical system, comprising:

[0005] a surgical unit, wherein the surgical unit is movable to a target position of a target object, wherein the target object has a first marking unit, wherein the first marking unit includes at least three non-collinear first markings arranged on the target object, and the surgical unit has a second marking;

[0006] an image acquisition unit, configured to acquire an image including the first marking unit and the target object;

[0007] a navigation unit, configured to identify the first marking unit and the second marking;

[0008] a control unit connected to the surgical unit, the control unit acquiring a first transformation relationship between the target position coordinate system and the first marking unit coordinate system; and acquiring a second transformation relationship between the surgical unit coordinate system and the first marking unit coordinate system;

[0009] The control unit is further configured to generate a third conversion relationship between the target position and the surgical unit based on the first conversion relationship and the second conversion relationship, and control the surgical unit to move to the target position based on the third conversion relationship.

[0010] In one embodiment, the surgical system further comprises:

[0011] The puncture component has a third mark, and the navigation unit is further used to obtain a fourth transformation relationship between the puncture component coordinate system and the first marking unit coordinate system, and obtain the relative position between the puncture component and the target position according to the fourth transformation relationship and the first transformation relationship.

[0012] In one embodiment, the navigation unit is a magnetic generator, and the first marker, the second marker, and the third marker are magnetic tags.

[0013] In one embodiment, the surgical unit comprises:

[0014] Platform unit;

[0015] a primary motion part, the primary motion part being movably disposed on the platform unit, the platform unit having a primary rotation reference axis, and the primary motion part being capable of fixed-axis rotation along the primary rotation reference axis;

[0016] a secondary motion portion, the secondary motion portion being movably disposed on the primary motion portion, the primary motion portion having a secondary linear guide track, the primary rotation reference axis and the secondary linear guide track being perpendicular to each other, and the secondary motion portion being capable of linear reciprocating motion along the secondary linear guide track;

[0017] A three-stage motion part, the three-stage motion part is movably arranged on the two-stage motion part, the two-stage motion part has a three-stage rotation reference axis, the two-stage linear guide track is parallel to the three-stage rotation reference axis, and the three-stage motion part can rotate along the three-stage rotation reference axis;

[0018] A four-stage motion part, the four-stage motion part is movably arranged on the three-stage motion part, the three-stage motion part has a four-stage rotation reference axis, the three-stage rotation reference axis and the four-stage rotation reference axis are perpendicular to each other, and the four-stage motion part can rotate along the four-stage rotation reference axis;

[0019] Among them, the first-level rotation reference axis, the third-level rotation reference axis and the fourth-level rotation reference axis are all perpendicular to each other.

[0020] In one embodiment, the four-stage motion part includes a base seat, a slider, a connecting rod and an end effector, the base seat is arranged on the three-stage motion part, the slider is assembled on the base seat along a straight line sliding, one end of the connecting rod is hinged to the slider, one end of the end effector is hinged to the other end of the connecting rod, and the other end of the end effector is hinged and assembled on the base seat, the base seat has an end reference axis, the end reference axis is parallel to the four-stage rotation reference axis, and the end effector can rotate along the end reference axis.

[0021] In one embodiment, the third marking position is located at the end of the piercing component.

[0022] In one embodiment, the piercing member has an axial hollow inner cavity.

[0023] In one embodiment, a limiter is provided on the puncture component, and the limiter can limit the puncture depth of the puncture component.

[0024] In one embodiment, the surgical unit comprises:

[0025] A needle holder is detachably connected to the end effector, and the puncture component is arranged on the needle holder.

[0026] In one embodiment, the image acquisition unit is capable of acquiring medical image data of the target position and the first marking unit, and acquiring a first conversion relationship in a coordinate system where the first marking unit is located based on the medical image data.

[0027] In one embodiment, the control unit is capable of generating at least one planned motion path according to the target position in the image, and the control unit is capable of controlling the movement of the surgical unit according to the planned motion path, thereby guiding the surgical unit to move to the target position.

[0028] In one embodiment, the surgical system comprises:

[0029] An early warning unit is connected to the control unit and the surgical unit, and is used to obtain the planned motion path and the real-time motion path of the surgical unit, and generate early warning information according to the planned motion path and the real-time motion path.

[0030] The present invention provides a positioning and navigation method, which includes:

[0031] defining a target location and a first marking unit on the target object;

[0032] Placing a target object within a scanning area of ​​an image acquisition unit, and acquiring a first transformation relationship between the target position coordinate system and the first marking unit coordinate system;

[0033] defining a second mark on the surgical unit, placing the target object and the surgical unit within a recognition area of ​​the navigation unit, and acquiring a second transformation relationship between the surgical unit coordinate system and the first mark unit coordinate system;

[0034] generating a third conversion relationship between the target position and the surgical unit according to the first conversion relationship and the second conversion relationship;

[0035] The surgical unit is controlled to move to the target position according to the third conversion relationship.

[0036] In the above-mentioned surgical system and positioning navigation method, the target position can be located using the first conversion relationship, and the acquisition operation of the first conversion relationship only needs to be performed once. Therefore, if the first conversion relationship is obtained using a method that involves risk factors such as CT equipment, the patient only needs to undergo CT imaging once, thereby reducing the risk to the patient during surgery by reducing the number of CT imaging times. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of a surgical status of a target object provided in one embodiment of the present invention;

[0038] Figure 2 A schematic diagram of an operating state of a surgical system provided in one embodiment of the present invention;

[0039] Figure 3 A schematic structural diagram of a navigation unit provided in one embodiment of the present invention;

[0040] Figure 4 This is a schematic structural diagram of a surgical unit provided in one embodiment of the present invention;

[0041] Figure 5 A schematic structural diagram of a four-stage motion unit provided in one embodiment of the present invention;

[0042] Figure 6 This is a schematic structural diagram of a puncture component provided in one embodiment of the present invention;

[0043] Figure 7 A schematic diagram of a puncture component with a limiter provided in one embodiment of the present invention;

[0044] Figure 8 For example Figure 7 A cross-sectional view of the piercing component with a limiter is shown;

[0045] Figure 9 For example Figure 8 The schematic diagram of the release state structure of the limiter shown;

[0046] Figure 10 For example Figure 8 The schematic diagram of the locking state structure of the limiter shown;

[0047] Figure 11 A schematic structural diagram of an end effector provided in one embodiment of the present invention;

[0048] Figure 12 This is an exploded schematic diagram of a needle holder provided in one embodiment of the present invention;

[0049] Figure 13 This is a schematic diagram of the assembly of a needle holder provided in one embodiment of the present invention;

[0050] Figure 14 A schematic diagram of the cooperation between the end effector and the needle holder provided in one embodiment of the present invention;

[0051] Figure 15 A schematic diagram of the assembly structure of the groove portion and the protrusion portion provided in one embodiment of the present invention;

[0052] Figure 16 This is a schematic structural diagram of a supporting device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0053] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0057] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0059] See Figures 1 to 3As shown, an embodiment of the present invention provides a surgical system, which includes a surgical unit 2000, an image acquisition unit 3000, a navigation unit 4000 and a control unit. The surgical unit 2000 can move to a target position 1100 of a target object 1000, and then be used to perform a surgical operation on the target position 1100 of the target object 1000. The target object 1000 has a first marking unit, which includes at least three non-collinear first markings 1200 set on the target object 1000. The surgical unit 2000 has a second marking; the image acquisition unit 3000 is used to obtain a first marking including a first marking unit 1200. An image of a target object 1000 and a first marking unit; the navigation unit 4000 is configured to identify the first marking and the second marking; a control unit is connected to a surgical unit via telecommunication, wherein the control unit obtains a first transformation relationship between the coordinate system of the target position 1100 and the coordinate system of the first marking unit; a second transformation relationship between the coordinate system of the surgical unit 2000 and the coordinate system of the first marking unit; the control unit uses the first transformation relationship and the second transformation relationship to generate a third transformation relationship between the target position 1100 and the surgical unit, and controls the surgical unit to move to the target position 1100 based on the third transformation relationship. The movement of the surgical unit to the target position can be used to establish a puncture channel.

[0060] It is understood that the conversion of the above-mentioned different conversion relationships can be specifically performed according to the following process:

[0061] After the image acquisition unit 3000 captures the target object 1000 and the first marking unit, an image is generated. In the image coordinate system, the position information of the target position 1100 on the target object 1000, the position information of the first marker 1200, and the relative position information of the target position 1100 and the first marker 1200 can be obtained.

[0062] The navigation unit 4000 is used to identify the first marker 1200 and obtain the position information of the first marker 1200 in the navigation unit coordinate system; similarly, the navigation unit 4000 is used to identify the second marker and obtain the position information of the second marker in the navigation unit coordinate system.

[0063] Based on the matching of the position information of the first marker 1200 in the image coordinate system and the position information of the first marker 1200 in the navigation coordinate system, a first matching relationship from the image coordinate system to the navigation coordinate system is obtained, or a second matching relationship from the navigation coordinate system to the image coordinate system is obtained, and the first matching relationship and the second matching relationship are opposite.

[0064] Furthermore, based on the first matching relationship, the positional information of the target location can be converted into the navigation coordinate system to form matching positional information of the target location. In the navigation coordinate system, the relative positional relationship between the matching positional information and the positional information of the second marker is calculated, and the surgical unit is controlled to move to the matching position of the target location. It can be understood that the first matching relationship is used to adapt the positional information in the virtual space to the real surgical space and control the movement of the surgical equipment in the real surgical space.

[0065] Of course, in some embodiments, in the real surgical space, the surgical unit may also include a base coordinate system, such as the base coordinate system of the robotic arm, and convert the matching position information of the above-mentioned target position according to the base coordinate system, thereby controlling the end of the robotic arm to move to the target position.

[0066] Furthermore, based on the second matching relationship, the navigation coordinate system can be transformed toward the image coordinate system, so that the surgical unit in the real surgical space can be transformed into the image coordinate system through the aforementioned second matching relationship and displayed in the image, thereby displaying the real surgical unit in the image in real time, facilitating monitoring of the puncture process. Specifically, based on the second matching relationship, whether the surgical unit's robotic arm has moved to the target position is displayed on the image as a needle entry point or a virtual model of the surgical unit; in addition, the puncture needle (end effector 2540) including the third marker 2800 hereinafter can also be displayed on the image.

[0067] It should be noted that the above-mentioned image coordinate system can correspond to the target position coordinate system, the navigation coordinate system can correspond to the first marking unit coordinate system, and the surgical unit coordinate system can correspond to the robotic arm coordinate system.

[0068] The target object 1000 is a living object, which can be a human or an animal. The target location 1100 is the location of the lesion. The surgical unit 2000 includes various robotic arms that can perform surgical operations on the lesion and medical instruments disposed at the ends of the robotic arms, such as abdominal surgical instruments, puncture surgical instruments, etc. Those skilled in the art can select appropriate medical instruments based on actual surgical needs, and this is not limited here. The area on the target object 1000 where the first marking unit is defined needs to be an area other than the area where the target location 1100 is located on the target object 1000. The first marking unit and the target location 1100 are two locations that can be referenced to each other. The number of first markers 1200 in the first marking unit can be multiple, such as three, four, five, etc., and this is not limited here. The second marker can be at an appropriate location on the surgical unit 2000, such as the end of the surgical unit 2000, and the number of second markers can also be multiple, such as three, four, five, etc., and this is not limited here.

[0069] The first marking unit can serve as an intermediary object between the target position 1100 and the second marking. Therefore, based on the coordinate system of the first marking unit, the first transformation relationship of the target position 1100 (i.e., the lesion) and the second transformation relationship of the second marking are obtained. The third transformation relationship can be formed by calculating the difference between the first transformation relationship and the second transformation relationship to control the surgical unit 2000 to move to the target position 1100.

[0070] In the process of acquiring the third conversion relationship, the first conversion relationship can be used to locate the target position 1100. The specific method is to use the first marking unit as an intermediary object to locate the target position 1100, that is, the target position 1100 can be determined by the first marking unit in the first conversion relationship. This can be called the positioning stage. The acquisition of the first conversion relationship in the positioning stage only requires one acquisition operation. Therefore, if the first conversion relationship is obtained using a method with risk factors such as CT equipment, the patient only needs to undergo one CT imaging, which significantly reduces the risk.

[0071] The image acquisition unit 3000 can adopt a variety of different devices and obtain the first conversion relationship in a variety of different ways, thereby presenting or expressing the first conversion relationship in a variety of different ways. For example, in one embodiment, the image acquisition unit 3000 can obtain medical image data of the target position 1100 and the first marking unit, and then obtain the first conversion relationship based on the medical image data.

[0072] The image acquisition unit 3000 can use a device that can acquire medical image data, such as computed tomography (CT) or magnetic resonance imaging (NMRI). When the image acquisition unit 3000 is a tomography device, the medical image data acquired by the image acquisition unit 3000 is a tomography scan image generated by the tomography device. When the image acquisition unit 3000 is a magnetic resonance imaging device, the medical image data acquired by the image acquisition unit 3000 is a magnetic resonance scan image generated by the magnetic resonance imaging device.

[0073] The first marker 1200 and the second marker of the first marking unit can be at least one of a magnetic tag, an optical marking component and a non-optical marking component. For example, the navigation unit 4000 is a magnetic generator, and the first marker 1200 and the second marker are magnetic tags.

[0074] The surgical system may include a medical trolley, so the surgical unit 2000 can be assembled using a medical trolley or other means, and the medical trolley can be used to move and adjust the surgical unit 2000. Alternatively, in one embodiment, the surgical system may not use a trolley, but directly use a platform unit 5000 for the patient to lie on during the operation to assemble the surgical unit 2000. The platform unit 5000 may include a surgical platform that can cooperate with a CT device. The surgical unit 2000 is set on the platform unit 5000 according to factors such as the patient's lying position and the movable range of the surgical unit 2000, so that the surgical unit 2000 can complete the surgical operation on the patient.

[0075] The surgical unit 2000 can select a suitable structural form according to the needs of the surgery and include sufficient degrees of freedom to complete the corresponding surgical operation. In one embodiment, Figure 4 As shown, the surgical unit 2000 includes a primary motion part 2200, a secondary motion part 2300, a tertiary motion part 2400 and a quaternary motion part 2500. The primary motion part 2200 is movably arranged on the platform unit 5000, with the platform unit 5000 as the installation base. The platform unit 5000 has a primary rotation reference axis, and the primary motion part 2200 can rotate along the primary rotation reference axis; the secondary motion part 2300 is movably arranged on the primary motion part 2200, and the primary motion part 2200 has a secondary linear guide. The secondary motion part 2300 can reciprocate linearly along the secondary linear guide trajectory; the tertiary motion part 2400 is movably arranged on the secondary motion part 2300, and the secondary motion part 2300 has a tertiary rotation reference axis, and the tertiary motion part 2400 can rotate along the tertiary rotation reference axis; the quaternary motion part 2500 is movably arranged on the tertiary motion part 2400, and the tertiary motion part 2400 has a quaternary rotation reference axis, and the quaternary motion part 2500 can rotate along the quaternary rotation reference axis.

[0076] As for the relationship between each rotation reference axis and the straight line guide track, the first-level rotation reference axis can be perpendicular to the second-level straight line guide track, the second-level straight line guide track can be parallel to the third-level rotation reference axis, the third-level rotation reference axis can be perpendicular to the fourth-level rotation reference axis, and the first-level rotation reference axis, the third-level rotation reference axis and the fourth-level rotation reference axis can all be perpendicular to each other.

[0077] The surgical unit 2000 thus constructed can possess four degrees of freedom, which are sufficient to determine the linear trajectory of the puncture path in space, and there is no redundancy in the degrees of freedom. While meeting the puncture freedom requirements, the surgical unit 2000 also has the advantages of a small structure and low weight, even weighing less than 2 kg, making it easy to operate and use. The surgical unit 2000 has four joints, which respectively use the primary rotation reference axis, the tertiary rotation reference axis, and the quaternary rotation reference axis as the control reference for rotational motion to control the rotational motion of the primary motion unit 2200, the tertiary motion unit 2400, and the quaternary motion unit 2500. The secondary linear guide trajectory is used as the control reference for linear motion to control the linear motion of the secondary motion unit 2300.

[0078] For example, in one embodiment, the primary motion unit 2200 can apply rotation around the Z axis to the end of the surgical unit 2000, the secondary motion unit 2300 can perform movement in the X axis direction, the tertiary motion unit 2400 can apply rotation around the X axis to the end of the surgical unit 2000, and the quaternary motion unit 2500 can apply rotation around the Y axis to the end of the surgical unit 2000, thereby providing a posture corresponding to the puncture operation. The primary motion unit 2200, the secondary motion unit 2300, the tertiary motion unit 2400 and the quaternary motion unit 2500 move in coordination to accurately locate the linear trajectory in space, that is, the puncture path.

[0079] The end of the surgical unit 2000 implements specific surgical operations through the end effector 2540. The end effector 2540 can be set on the four-level motion part 2500 or included as a part of the four-level motion part 2500. The four-level motion part 2500 can be used to adjust the pitch angle of the end effector 2540. A second mark can be formed on the end effector 2540, thereby reflecting the position of the end effector 2540 in the third conversion relationship.

[0080] like Figure 5As shown, the four-stage motion part 2500 can implement control of the end effector 2540 by adopting a crank slider 2520 mechanism. For example, in one embodiment, the four-stage motion part 2500 includes a base seat 2510, a slider 2520, a connecting rod 2530, and an end effector 2540. The base seat 2510 is arranged on the three-stage motion part 2400, and the slider 2520 is assembled on the base seat 2510 along a straight line sliding; one end of the connecting rod 2530 is hinged to the slider 2520; one end of the end effector 2540 is hinged to the other end of the connecting rod 2530, and the other end of the end effector 2540 is hinged to the base seat 2510. The base seat 2510 has an end reference axis, which is parallel to the four-stage rotation reference axis, and the end effector 2540 can rotate along the end reference axis.

[0081] The base 2510 can be formed from a single base or multiple separate bases. Therefore, the tertiary motion unit 2400 and the end effector 2540 can be assembled simultaneously with the single base, or the tertiary motion unit 2400 and the end effector 2540 can be assembled separately on different bases. The crank slider 2520 mechanism can convert the linear motion of the slider 2520 into the swinging motion of the connecting rod 2530BC, thereby adjusting the pitch angle θ. The power source for driving the slider 2520 can be a motor, etc. The motor can be placed in the same plane as the swinging direction, thereby minimizing the width of the quaternary motion unit 2500. The motor can be located as far away from the end effector 2540 as possible to prevent metal materials in the surgical unit 2000 from affecting the CT scan results.

[0082] Depending on the type of surgery performed by the surgical unit 2000, different types of surgical instruments can be mounted on the end effector 2540, including but not limited to laparoscopes, puncture needles, etc. Figure 6As shown, in one embodiment, the surgical unit 2000 may include a puncture component 2600, the puncture component 2600 having a third marker 2800, wherein the navigation unit 4000 is used to obtain a fourth transformation relationship between the puncture component 2600 and the first marker unit coordinate system; and, based on the fourth transformation relationship and the first transformation relationship, to determine the relative position between the puncture component 2600 and the target position 1100, the puncture component 2600 is disposed on the end effector 2540, and the puncture Component 2600 can adopt different structural forms. For example, the puncture component 2600 has an axial hollow inner cavity, or the third mark 2800 is set at the end of the puncture component 2600. In this case, the third mark 2800 can truly display the end position of the puncture component 2600, so that the end of the puncture component 2600 establishes a relative position relationship with the target position 1100 (lesion) in the third conversion relationship, and forms real-time guidance for the puncture component 2600 during the puncture process, reflecting the actual position of the end of the puncture component 2600 in the most direct way.

[0083] like Figure 7 As shown, during the puncture operation, in order to avoid the over-puncture problem of the puncture component 2600, a limiter 2610 can be set on the puncture component 2600, and the position of the limiter 2610 on the puncture component 2600 can be adjusted, that is, the limiter 2610 is movably assembled on the puncture component 2600. Before the puncture operation is performed, the expected puncture depth can be calculated first, and then the limiter 2610 can be adjusted to a suitable position on the puncture component 2600.

[0084] The stopper 2610 can be of any structure as long as it can be assembled on the puncture component 2600 in an adjustable position, such as a snap-fit ​​structure, an adhesive structure, a threaded structure, etc. Figures 8 to 10 As shown, in one embodiment, the stopper 2610 may include a base that can be snap-fitted onto the puncture component 2600. The base may be an arc-shaped structure, and a cam that is hingedly assembled is provided on the base. The changing outer contour of the cam is used to cooperate with the base and the puncture component 2600 to form a locking or releasing state, as shown in FIG. Figure 8 As shown, the base can be first stuck on the piercing component 2600, compared Figure 9 and Figure 10 In the two states shown, the cam rotates around the hinge point where it is hingedly assembled with the base. As the radius of the cam changes, the outer contour of the cam gradually squeezes the puncture component 2600, and then relies on the friction generated by the squeezing to lock the base on the puncture component 2600. Correspondingly, when the cam is rotated in the opposite direction, the outer contour of the cam gradually releases the puncture component 2600, and then releases the base relative to the puncture component 2600.

[0085] like Figures 11 to 14 As shown, the surgical unit 2000 may include a needle holder 2700, which can be used to assemble the puncture component 2600. For example, the needle holder 2700 can be snap-fitted to the end effector 2540, and then the puncture component 2600 can be set on the needle holder 2700. The snap-fit ​​assembly can rely on the deformation characteristics of the material itself to achieve reliable fixation, with low manufacturing cost. Moreover, the snap-fit ​​assembly facilitates the disassembly and assembly between the needle holder 2700 and the end effector 2540. The connection operation is simple and effective, and the operation time can be shortened to the greatest extent while ensuring accuracy.

[0086] The needle holder 2700 can be constructed in any structural form. For example, the needle holder 2700 can be a single-piece structure or a plurality of separate structures. In one embodiment, the needle holder 2700 can include a device seat 2710 and a clamping member 2720. The device seat 2710 is disposed on the end effector 2540. The clamping member 2720 is detachably connected to the device seat 2710. The puncture component 2600 is disposed on the clamping member 2720. The clamping member 2720 and the device seat 2710 can also be detachably connected using a snap-fit ​​assembly. The needle holder 2700 composed of the device seat 2710 and the clamping member 2720 has a simple structure. The snap-fit ​​assembly utilizes the deformation of the material itself to achieve assembly and disassembly of the needle holder 2700, facilitating the needle withdrawal operation of the surgical unit 2000.

[0087] The needle holder 2700 can be made of a plastic material with a lower density. For example, the needle holder 2700 can be made of PEEK (polyetheretherketone) and PEI (polyetherimide). While ensuring structural strength, it can also effectively reduce the impact on CT imaging quality.

[0088] The surgical unit 2000 can be directly mounted on the platform unit 5000 or indirectly mounted on the platform unit 5000 using a support device 5100. In one embodiment, the platform unit 5000 is detachably provided with a support device 5100. The support device 5100 is adjusted to a suitable position, and then the surgical unit 2000 is set on the support device 5100. At this time, the primary rotation reference axis can be formed on the support device 5100, so that the primary motion part 2200 can rotate relative to the support device 5100, and then indirectly rotate relative to the platform unit 5000.

[0089] The assembly of the surgical unit 2000 relative to the supporting device 5100 can adopt any structural form, such as plug-in form, snap-on form, adhesive form, threaded form, etc., which is not limited here. In one embodiment, as shown in FIG. Figure 15As shown, the support device 5100 is provided with a groove portion 5110, and the surgical unit 2000 is provided with a protrusion 5120, the protrusion 5120 is plugged into and assembled with the groove portion 5110, and a locking structure 5130 may be provided between the support device 5100 and the surgical unit 2000. Figure 15 As shown, the cross-section of the groove portion 5110 and the cross-section of the protrusion 5120 can both be T-shaped, and the locking structure 5130 includes a threaded hole opened on the protrusion 5120 and a threaded member in the threaded hole. The threaded member can be threadedly assembled in the threaded hole and lock the groove portion 5110 and the protrusion 5120 by abutting against the inner wall of the groove portion 5110.

[0090] After the operation begins, the protrusion 5120 of the surgical unit 2000 can be slid into the groove portion 5110 of the support device 5100. After the protrusion 5120 slides to the appropriate position of the groove portion 5110, the threaded part can be screwed into the threaded hole and continuously moved inward to penetrate the protrusion 5120, and then abut against the inner wall of the groove portion 5110 to complete the locking between the groove portion 5110 and the protrusion 5120. This connection method is convenient and reliable and can save a lot of time.

[0091] Support device 5100 possesses six degrees of freedom, providing a wide range of motion. Therefore, when combined with support device 5100, surgical unit 2000 only needs a relatively small range of motion to meet surgical requirements. This allows surgical unit 2000 to be smaller and portable. Furthermore, using support device 5100 to assemble surgical unit 2000 eliminates the need for a medical trolley, leaving the surgeon with more space for the procedure.

[0092] The support device 5100 has six degrees of freedom and can be implemented in any structural form, for example, it can be implemented using six joints or multiple kinematic pairs. In one embodiment, Figure 16As shown, the support device 5100 may include a first support portion 5140, a second support portion 5150, and a third support portion 5160. The first support portion 5140 is movably disposed on the platform unit 5000. The platform unit 5000 has a first rotation reference axis. The first support portion 5140 can rotate along the first rotation reference axis, or can simultaneously reciprocate linearly along the first rotation reference axis. In this case, the first support portion 5140 has a kinematic pair, which can be a cylindrical pair. The second support portion 5150 is movably disposed on the first support portion 5140. The first support portion 5140 has a second rotation reference axis. The second support portion 5150 can rotate along the second rotation reference axis. In this case, the second support portion 5150 has a kinematic pair. The third support portion 5160 is movably mounted on the second support portion 5150. The second support portion 5150 has at least three third reference axes of rotation. The third support portion 5160 is capable of fixed rotation along the at least three third reference axes of rotation. In this case, the third support portion 5160 has a kinematic pair, which can be a spherical pair. Therefore, the three kinematic pairs between the first support portion 5140, the second support portion 5150, and the third support portion 5160 constitute six degrees of freedom. Furthermore, those skilled in the art can also achieve six degrees of freedom by using other numbers or forms of kinematic pairs, which are not limited here.

[0093] Regarding the relationship between each rotation reference axis and the linear guide track, in one embodiment, the first-level rotation reference axis and the second-level linear guide track are perpendicular to each other, at least three of the third rotation reference axes are perpendicular to each other, the first-level rotation reference axis is parallel to one of the third rotation reference axes, and the second-level rotation reference axis is parallel to one of the third rotation reference axes.

[0094] At this time, the primary rotation reference axis is formed on the third support portion 5160 , so that the primary motion portion 2200 can rotate relative to the third support portion 5160 , and then indirectly rotate relative to the support device 5100 .

[0095] The control unit can perform preoperative planning, which may include but is not limited to segmenting the organs of the target object 1000, avoiding important organs, and then planning the puncture path. The areas for segmenting the organs of the target object 1000, avoiding important organs, and other operations include skin, bones, blood vessels, lung parenchyma, interlobar fissures and septa, etc. The puncture path is planned so that important tissues and organs of the human body are avoided as much as possible during the puncture process, thereby reducing the damage of the puncture operation to the human body and improving the success rate of the puncture operation. The control unit can generate at least one planned motion path. The doctor has the initiative to select any planned motion path based on multiple planned motion paths. The planned motion path is mainly a linear trajectory, and the planned motion path can be used to guide the surgical unit 2000 to perform the surgical operation.

[0096] The surgical system may include an early warning unit, which is connected to the control unit and the surgical unit 2000. The early warning unit can obtain the guidance trajectory, and the navigation unit 4000 can display the real-time motion path of the surgical unit 2000 in real time, so the early warning unit can obtain the planned motion path and the real-time motion path of the surgical unit 2000, and then generate early warning information based on the planned motion path and the real-time motion path. The early warning information can be sound information or image information, and can then be displayed through the display unit 6000. Once it is detected that the actual surgical operation of the surgical unit 2000 deviates from the guidance of the planned motion path, the user will be prompted through the early warning information to provide safety protection.

[0097] The present invention also provides a positioning and navigation method, comprising the following steps: defining a target position 1100 and a first marker 1200 unit on a target object 1000; placing the target object 1000 within a scanning area of ​​an image acquisition unit 3000, and obtaining a first transformation relationship between the coordinate system of the target position 1100 and the coordinate system of the first marker unit; defining a second marker on a surgical unit 2000, placing the target object 1000 and the surgical unit 2000 within a recognition area of ​​a navigation unit 4000, and obtaining a second transformation relationship between the coordinate system of the surgical unit 2000 and the coordinate system of the first marker unit; generating a third transformation relationship between the target position 1100 and the surgical unit 2000 based on the first and second transformation relationships, and controlling the surgical unit 2000 to move to the target position 1100 based on the third transformation relationship. The positioning and navigation method can be specifically implemented based on the above-mentioned surgical system, and therefore, the technical solution of the positioning and navigation method can also be understood with reference to the surgical system described above.

[0098] The first marking unit can serve as an intermediary object between the target position 1100 and the second marking. Therefore, based on the coordinate system of the first marking unit, the first transformation relationship of the target position 1100 (i.e., the lesion) and the second transformation relationship of the second marking are obtained. The third transformation relationship can be formed by calculating the difference between the first transformation relationship and the second transformation relationship to control the surgical unit 2000 to move to the target position 1100.

[0099] In the process of acquiring the third conversion relationship, the first conversion relationship can be used to locate the target position 1100. Specifically, the first marker unit can be used as an intermediary object to locate the target position 1100, that is, the target position 1100 can be determined by the first marker unit in the first conversion relationship. This can be called the positioning stage. The acquisition of the first conversion relationship in the positioning stage only requires one acquisition operation. Therefore, if the first conversion relationship is acquired by a method with risk factors such as CT equipment, the patient only needs to undergo one CT imaging, which significantly reduces the risk. When the second conversion relationship between the first marker unit and the second marker is acquired by the second conversion relationship, a lower-risk method can be used, such as magnetic navigation or optical navigation. Because the acquisition risk of the second conversion relationship is significantly reduced, this process can improve navigation accuracy through multiple acquisition operations. This stage can be called the adjustment stage. The relative position relationship between the second marker and the target position 1100, that is, the third conversion relationship, is accurately known by using the first marker unit as an intermediary object.

[0100] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A surgical system, characterized in that: The surgical system comprises: a surgical unit, wherein the surgical unit is movable to a target position of a target object, wherein the target object has a first marking unit, wherein the first marking unit includes at least three non-collinear first markings arranged on the target object, and the surgical unit has a second marking; an image acquisition unit, configured to acquire an image including the first marking unit and the target object; a navigation unit, configured to identify the first marking unit and the second marking; a control unit connected to the surgical unit, the control unit acquiring a first transformation relationship between the target position coordinate system and the first marker unit coordinate system, wherein the first transformation relationship is acquired only once when the first transformation relationship is acquired in a manner that includes risk factors; and a control unit configured to acquire a second transformation relationship between the surgical unit and the first marker unit coordinate system, wherein the second transformation relationship between the first marker unit and the second marker is acquired using magnetic navigation or optical navigation; The control unit is further configured to generate a third conversion relationship between the target position and the surgical unit based on the first conversion relationship and the second conversion relationship, and control the surgical unit to move to the target position based on the third conversion relationship.

2. The surgical system according to claim 1, wherein: The surgical system further comprises: The puncture component has a third mark, and the navigation unit is further used to obtain a fourth transformation relationship between the puncture component coordinate system and the first marking unit coordinate system, and obtain the relative position between the puncture component and the target position according to the fourth transformation relationship and the first transformation relationship.

3. The surgical system according to claim 2, wherein: The third marking position is located at the end of the puncture component.

4. The surgical system according to claim 3, wherein: The piercing component has an axial hollow inner cavity.

5. The surgical system according to claim 1 or 2, characterized in that: The navigation unit is a magnetic generator, and the first marker, the second marker and the third marker are magnetic tags.

6. The surgical system according to claim 2, wherein: The surgical unit comprises: Platform unit; a primary motion part, the primary motion part being movably disposed on the platform unit, the platform unit having a primary rotation reference axis, and the primary motion part being capable of fixed-axis rotation along the primary rotation reference axis; a secondary motion portion, the secondary motion portion being movably disposed on the primary motion portion, the primary motion portion having a secondary linear guide track, the primary rotation reference axis and the secondary linear guide track being perpendicular to each other, and the secondary motion portion being capable of linear reciprocating motion along the secondary linear guide track; A three-stage motion part, the three-stage motion part is movably arranged on the two-stage motion part, the two-stage motion part has a three-stage rotation reference axis, the two-stage linear guide track is parallel to the three-stage rotation reference axis, and the three-stage motion part can rotate along the three-stage rotation reference axis; A four-stage motion part, the four-stage motion part is movably arranged on the three-stage motion part, the three-stage motion part has a four-stage rotation reference axis, the three-stage rotation reference axis and the four-stage rotation reference axis are perpendicular to each other, and the four-stage motion part can rotate along the four-stage rotation reference axis; Among them, the first-level rotation reference axis, the third-level rotation reference axis and the fourth-level rotation reference axis are all perpendicular to each other.

7. The surgical system according to claim 6, wherein: The four-stage motion part includes a base seat, a slider, a connecting rod and an end effector. The base seat is arranged on the three-stage motion part, the slider is assembled on the base seat along a straight line sliding, one end of the connecting rod is hinged to the slider, one end of the end effector is hinged to the other end of the connecting rod, and the other end of the end effector is hinged and assembled on the base seat. The base seat has an end reference axis, which is parallel to the four-stage rotation reference axis, and the end effector can rotate along the end reference axis.

8. The surgical system according to claim 7, wherein: The surgical unit comprises: A needle holder is detachably connected to the end effector, and the puncture component is arranged on the needle holder.

9. The surgical system according to claim 7, wherein: A limiter is provided on the puncture component, and the limiter can limit the puncture depth of the puncture component.

10. The surgical system according to claim 1, wherein: The image acquisition unit can acquire medical image data of the target position and the first marking unit, and acquire a first conversion relationship in a coordinate system where the first marking unit is located according to the medical image data.

11. The surgical system according to claim 1, wherein: The control unit can generate at least one planned motion path according to the target position in the image, and the control unit can control the movement of the surgical unit according to the planned motion path, thereby guiding the surgical unit to move to the target position.

12. The surgical system according to claim 11, wherein: The surgical system comprises: An early warning unit is connected to the control unit and the surgical unit, and is used to obtain the planned motion path and the real-time motion path of the surgical unit, and generate early warning information according to the planned motion path and the real-time motion path.

13. A positioning and navigation method, characterized in that: The positioning and navigation method comprises: defining a target location and a first marking unit on the target object; Placing a target object within a scanning area of ​​an image acquisition unit, obtaining a first transformation relationship between the target position coordinate system and the first marking unit coordinate system, and performing only one acquisition when obtaining the first transformation relationship in a manner that includes risk factors; Defining a second marker on the surgical unit, placing the target object and the surgical unit within a recognition area of ​​the navigation unit, acquiring a second transformation relationship between the surgical unit coordinate system and the first marker unit coordinate system, and using magnetic navigation or optical navigation to acquire the second transformation relationship between the first marker unit and the second marker; generating a third conversion relationship between the target position and the surgical unit according to the first conversion relationship and the second conversion relationship; The surgical unit is controlled to move to the target position according to the third conversion relationship.

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