A method of automatically adjusting the spatial orientation of a three-dimensional spatial orientation system

Abstract

The application relates to a method for automatically adjusting the spatial orientation of a three-dimensional spatial orientation system, which comprises the following steps: S1, fixing the base of the three-dimensional spatial orientation system to the skull of a patient; S2, allowing the patient to wear the base to perform CT / MRI scanning; S3, an image processing system acquires and processes the images of the base and the lesion of the patient; S4, the image processing system three-dimensionally reconstructs and simulates the head frame of the three-dimensional spatial orientation system, and obtains the coordinate relationship between the lesion target point T and the base and the head frame; S5, path optimization calculation obtains the swing angle theta and the rotation angle phi of the swing rod of the head frame and the penetration depth L data; S6, an angle control console receives the swing angle theta and the rotation angle phi and the penetration depth L data; S7, the head frame is fixed to the angle control console, and position zero calibration is automatically completed; and S8, the angle control console automatically adjusts the swing angle theta and the rotation angle phi of the swing rod according to the swing angle theta and the rotation angle phi data, so that the swing angle theta and the rotation angle phi reach the target angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of innovative medical devices, in particular to an innovative three-dimensional spatial orientation system for brain craniotomy and a method for automatically adjusting the spatial orientation of the three-dimensional spatial orientation system. BACKGROUND

[0002] Intracranial lesions vary in disease, lesion location, and symptoms. The clinical symptoms of intracranial lesions are various, so the position and angle of puncture need to be accurately targeted during intracranial surgery. Brain hemorrhage drainage, intracranial lesion biopsy, epileptic lesion destruction, ventricular puncture external drainage, DBS electrode implantation, etc. require accurate positioning and adjustment of intracranial target points, which are common indications for stereotactic surgery.

[0003] CN116327334A discloses an intracranial lesion accurate targeting positioning device, which comprises a cylindrical connecting rod, a rotatable sleeve is sleeved on the surface of the connecting rod, a base is integrally connected to the surface of the sleeve, a gear disc is rotatably connected to the side of the base away from the sleeve through a rolling bearing, a guide pipe is fixed to the gear disc, a fixed block is welded to one side of the surface of the base, a horizontal shaft is inserted into the middle part of the fixed block, a pressure plate is fixedly connected to one end of the horizontal shaft, the pressure plate is engaged with the surface of the gear disc, and spring clamping plates are fixedly connected to both ends of the connecting rod. The sleeve can be rotated on the surface of the connecting rod to adjust the up-down angle direction of the guide pipe, and the gear disc can be rotated on the base to adjust the left-right direction of the guide pipe, so that the accurate targeting positioning of the puncture needle is ensured.

[0004] CN112022353A discloses a surgical robot surgical instrument positioning assembly, which belongs to the technical field of sand screening devices. The technical solution comprises an operation control panel and a fixed support, the lower end surface of the fixed support is fixedly connected with an adjusting servo motor, the front end surfaces of the two fixed plates are fixedly connected with electric control stretchers, the left and right sides of the two movable plates are provided with first limiting nuts matched with first movable pins, the left and right sides of the connecting claws are provided with second limiting nuts matched with second movable pins, an X drive screw is located in front of the connecting shaft, a Y drive screw is located behind the connecting shaft, a drive slider is arranged in the middle of the X drive seat, a micro-adjusting servo motor is fixedly connected to the upper end surface of the drive slider, a stretchable surgical knife connecting rod is arranged at the lower end surface of the drive slider, the surgical instrument is driven in X, Y and Z directions, the flexibility and convenience of the surgical instrument are improved, the surgical instrument is accurately driven and positioned, and the surgical instrument meets the precision requirements of the incision.

[0005] CN112089481A discloses a CT puncture needle automatic guiding device, and the technical scheme points are that the first driving rod is connected with the first gear engaged with the first toothed plate, the second driving rod is provided with the second toothed plate engaged with the second gear, the first long sliding hole is slidably connected with the guide sleeve for the puncture needle to pass through to guide the puncture needle, and the lower end of the guide sleeve passes through the second long sliding hole and is slidably connected with the second long sliding hole. The first driving rod and the second driving rod control the rotation of the first guide frame and the second guide frame respectively, the guide sleeve moves in two directions along the first long sliding hole and the second long sliding hole respectively, the angle of the guide sleeve guiding the puncture needle is changed stereoscopically, and thus the angle of the puncture needle automatically guided to be pierced is realized, so that the angle of the puncture is accurately positioned.

[0006] CN116602742A discloses a ventricle puncture and drainage puncture auxiliary device, comprising a reference element and a puncture needle ring fixing element, the reference element and the puncture needle ring fixing element are both center-opening sheet structures, the reference element is fixed on the head, the puncture needle ring fixing element is axially coincident with the center opening of the reference element and the diameter difference is less than 1mm. The puncture needle ring fixing element extends an extension part with a curved structure, the reference element is provided with a groove matching the extension part, and the extension part and the groove form a fixed structure connection after matching to fix the reference element and the puncture needle ring fixing element. The reference element can be fixed according to the puncture position, the angle of the puncture needle ring fixing element is adjusted after the opening to assist puncture, and the puncture needle ring fixing element ensures the stability of puncture. The puncture needle ring fixing element can also cooperate with the skull opening drill ring fixing element to ensure the bacteria isolation effect in the puncture and drainage process and avoid intracranial infection.

[0007] The above-mentioned prior art scheme has many problems and defects, for example: the product has many parts, is heavy and inconvenient to assemble, the operation preparation time is long; the puncture angle calculation is complicated, and its accuracy depends on the experience of the surgeon; the marker is attached to the scalp, and its position is not strictly fixed, which affects the accuracy; the adjusting joint is too sensitive, which is inconvenient to adjust; the whole device structure is complex, the manufacturing cost is high, and the price is high.

[0008] Therefore, the industry needs a new three-dimensional space orientation system for brain craniotomy to reduce or even overcome the defects of the prior art and achieve more beneficial technical effects and technical progress.

[0009] The information included in this Background section of the specification, including any references cited herein and any description or discussion thereof, is included for technical reference purposes only and is not to be construed as subject matter that limits the scope of the invention. SUMMARY

[0010] The present invention is proposed in view of the foregoing and other further ideas.

[0011] With advancements in computer processing speed and imaging technology, the inventors of this patent have creatively proposed a three-dimensional spatial localization system / method for improving intracranial lesion target locations (sometimes interchangeably referred to as "lesions") based on the current technological status and characteristics of the field of neurosurgical procedures. This system combines medical imaging reconstruction calculations with three-dimensional stereotactic head frames / neuronavigation technologies. The three-dimensional spatial orientation system, its components, and related methods of this invention can also be used for many other purposes, not limited to surgery, including preoperative analysis, simulation and training, teaching and training of medical students and interns, research and development, etc.

[0012] According to one aspect of the present invention, a method for automatically adjusting the spatial orientation of a three-dimensional spatial orientation system is provided, the method comprising the following steps: S1: having the patient wear a base for CT / MRI scanning, the base being used to fix the patient's skull; S2: the image processing system of the three-dimensional spatial orientation system acquiring and processing images of the base and the patient's lesion; S3: the image processing system three-dimensionally reconstructing and simulating the head frame of the three-dimensional spatial orientation system, and obtaining the coordinate relationship between the lesion target point T and the base and the head frame; S4: path optimization calculation obtaining the swing angle θ and rotation angle φ of the swing arm of the head frame and the puncture depth L data; S5: the three-dimensional spatial orientation system... The system's angle control console receives the swing angle θ, rotation angle φ, and puncture depth L data; S6: The head frame is fixed to the angle control console, and the position is automatically zeroed; S7: The angle control console automatically adjusts the swing angle θ and rotation angle φ of the swing rod according to the swing angle θ and rotation angle φ data to achieve the target angle; S8: The angle control console automatically adjusts the locking buckle of the puncture needle inserted in the puncture channel of the swing rod according to the puncture depth L data to achieve the target puncture depth; and S9: The head frame and the puncture needle, which have been automatically adjusted to the target angle and the target puncture depth, are removed, and the head frame is installed on the base.

[0013] According to one embodiment, the headframe is in its initial position state before step S7.

[0014] According to one embodiment, before step S7, the headframe is automatically calibrated via an angle control console.

[0015] According to one embodiment, in step S7, after the target angle is reached, the position of the swing arm is locked.

[0016] According to an embodiment, in step S5, the head frame receives the swing angle θ and the rotation angle φ and the puncture depth L data through the control circuit (419) of the angle console.

[0017] According to an embodiment, the method further comprises the step of puncturing the puncture needle to the lesion target T through the puncture channel.

[0018] According to an embodiment, the position of the swing lever is locked by tightening the rotation locking screw and the swing locking screw of the head frame.

[0019] According to an embodiment, the method is applied to at least one of the following: brain surgery; preoperative simulation; preoperative training; medical explanation; medical demonstration; medical teaching; medical training; and medical research and development.

[0020] According to another aspect of the present application, an innovative three-dimensional spatial orientation system for brain surgery is provided. The three-dimensional spatial orientation system comprises: a base configured to be fixed on a patient's brain in a position-invariant manner, the base comprising a support and a developing ring mounted on the support, wherein the developing ring is provided with a developing ring zero scale point, and the developing ring and the developing ring zero scale point are identifiable by CT or MRI imaging technology; a head frame mounted on the base, wherein the head frame comprises: a support frame, the head frame being detachably fixedly mounted on the base through the support frame; a planar rotating ring mounted on the support frame; an upper cover fixed on the support frame and pressed above the planar rotating ring, so that the planar rotating ring is controllably rotatable mounted between the support frame and the upper cover; a swing lever comprising a transverse axis and a longitudinal axis, the transverse axis of the swing lever being mounted in a diameter direction of the planar rotating ring and being controllably rotatable with the planar rotating ring at a rotation angle φ; the longitudinal axis being controllably swingable at a swing angle θ, wherein the longitudinal axis defines a puncture channel for a puncture needle to be inserted; a magnetic ring embedded on the planar rotating ring; an image processing system configured to: perform three-dimensional reconstruction on CT / MRI scan images of the patient's brain and the base, determine a developing ring plane in the CT / MRI scan images as a base plane, and determine a lesion target T in the patient's brain; map a head frame plane according to the base plane and a height h of the head frame, and thereby establish a three-dimensional rectangular coordinate system (x, y, z); calculate a length r of a straight line between an origin o of the three-dimensional rectangular coordinate system (x, y, z) and the lesion target T, and calculate the rotation angle φ and the swing angle θ; establish a three-dimensional polar coordinate system based on the origin o of the three-dimensional rectangular coordinate system (x, y, z), and obtain polar coordinates (r, θ, φ) of the lesion target T in the three-dimensional polar coordinate system; and wherein a cross center point of the transverse axis and the longitudinal axis of the swing lever coincides with the origin o of the three-dimensional rectangular coordinate system (x, y, z).

[0021] According to an embodiment, the image processing system comprises a control display module configured to send calibration commands and to display the current angular state of the head frame in real time; and

[0022] The image processing system is further configured to plan the puncture path of the puncture needle according to the polar coordinates (r, θ, φ) data of the lesion target T.

[0023] According to an embodiment, the base further comprises a plurality of biocompatible screws arranged along the developing ring.

[0024] According to an embodiment, the head frame further comprises an angle detection control circuit fixed to the upper cover.

[0025] According to an embodiment, the angle detection control circuit is built-in with a rotation angle sensor and a body posture sensor, wherein the rotation angle sensor is installed tangentially to the magnetic ring.

[0026] According to an embodiment, the three-dimensional space orientation system further comprises an angle control console operatively connected to the head frame.

[0027] According to an embodiment, the angle control console comprises a fixing support for fixing the head frame and preventing it from deviating, a transmission device having one end operatively connected to the motor and the other end operatively connected to the head frame and configured to be able to manipulate the head frame to automatically adjust the rotation angle φ and the swing angle θ, and a computer configured to send control instructions to the control circuit through a serial port, the control circuit receiving the control instructions from the computer to control the rotation of the motor.

[0028] According to an embodiment, the transmission device is configured to be able to automatically adjust the puncture depth of the puncture needle, so that the distance r can be automatically adjusted.

[0029] According to an embodiment, the computer is installed with image processing software of the image processing system.

[0030] According to an embodiment, the rotation angle sensor is an off-axis magnetic encoding angle sensor.

[0031] According to an embodiment, the support frame is further provided with a locking screw.

[0032] According to an embodiment, the three-dimensional space orientation system calibrates the swing angle θ through a six-face calibration algorithm.

[0033] According to an embodiment, the image processing system is configured to collect and process image data identified by CT or MRI imaging technology.

[0034] According to an embodiment, a cavity surface for fixing the angle detection control circuit is provided on the upper cover for manual adjustment.

[0035] According to an embodiment, the horizontal axis and the vertical axis are integrally formed, so that the T-shaped swing rod is T-shaped.

[0036] According to an embodiment, the puncture needle is fixed in the puncture channel by a clamping buckle and a clamping screw, wherein the puncture needle defines the puncture depth by the clamping buckle.

[0037] According to an embodiment, the image processing system comprises image processing software, which is configured in the three-dimensional space orientation system or in a separate computer outside the three-dimensional space orientation system.

[0038] According to an embodiment, the motor is a high-precision servo motor, and the transmission device is a transmission shaft installed through the center longitudinal axis of the head frame.

[0039] According to an embodiment, the origin O is substantially coincident with the center of the plane rotating ring.

[0040] According to an embodiment, 0≤φ<360°, -45°<θ<45°.

[0041] According to another aspect of the present application, a method for manually adjusting the space orientation of a three-dimensional space orientation system is provided, comprising the following steps: S1: fixing the base of the three-dimensional space orientation system to the skull of a patient; S2: allowing the patient to wear the base to perform CT / MRI scanning; S3: the image processing system of the three-dimensional space orientation system acquires and processes the images of the base and the lesion of the patient; S4: the image processing system three-dimensionally reconstructs and simulates the head frame of the three-dimensional space orientation system, and obtains the coordinate relationship between the lesion target point T and the base and the head frame; S5: path optimization calculation obtains the swing angle θ and the rotation angle φ of the swing rod of the head frame, as well as the puncture depth L data; S6: the head frame receives the swing angle θ and the rotation angle φ data, as well as the puncture depth L data; S7: fixing the head frame to the base; and S8: manually adjusting the swing angle and the rotation angle of the swing rod according to the swing angle θ and the rotation angle φ data, so that they respectively reach the target angles θ and φ.

[0042] According to an embodiment, before step S7, the head frame is in an initial position state.

[0043] According to an embodiment, before step S7, the head frame is calibrated.

[0044] According to an embodiment, the calibration is manually performed by a calibration jig or automatically performed by the angle control console of the three-dimensional space orientation system.

[0045] According to an embodiment, in step S6, the head frame wirelessly receives the swing angle θ and the rotation angle φ data, as well as the puncture depth L data through the angle detection control circuit.

[0046] According to an embodiment, the method further comprises a step S9 of manually moving the detent buckle of the puncture needle to a target scale position of the puncture needle according to the puncture depth L data, and then fixing it by the detent screw to reach the target puncture depth.

[0047] According to an embodiment, the method further comprises a step S10 of puncturing the puncture needle to the lesion target T through the puncture path.

[0048] According to an embodiment, in step S8, the position of the swing lever is locked after reaching the target angle.

[0049] According to an embodiment, the position of the swing lever is locked by tightening the rotation locking screw and the swing locking screw of the headstock.

[0050] According to an embodiment, the method is applied to at least one of the following: brain surgery; preoperative simulation; preoperative training; medical explanation; medical demonstration; medical teaching; medical training; and medical research and development.

[0051] According to an embodiment of the present application, there is provided a base, comprising: a support having a ring-shaped body, the ring-shaped body of the support defining an outer periphery and an inner periphery; a plurality of biocompatible screws arranged along the outer periphery of the support and spaced apart from each other.

[0052] According to an embodiment, the base further comprises a visualization ring disposed on the ring-shaped body and proximate to the inner periphery, wherein the visualization ring is disposed concentrically with the support.

[0053] According to an embodiment, the visualization ring is a metal ring embedded on the ring-shaped body, or a contrast agent ring-shaped marker directly coated on the upper surface of the ring-shaped body, wherein the visualization ring is provided with a visualization ring zero scale point and matches the ring-shaped body into a unique assembly position relationship.

[0054] According to an embodiment, the plane of the visualization ring is flush with the plane of the upper surface of the ring-shaped body.

[0055] According to an embodiment, the upper surface of the ring-shaped body is flat.

[0056] According to an embodiment, the plurality of biocompatible screws are at least 3 titanium screws evenly spaced apart from each other along the outer periphery of the support.

[0057] According to an embodiment, the visualization ring is a titanium metal ring.

[0058] According to an embodiment, the visualization ring zero scale point is a notch on the visualization ring.

[0059] According to an embodiment, a plurality of detent posts are provided on the ring-shaped body of the support.

[0060] According to an embodiment, the radial dimension of the substantially annular support of the base, i.e. the outer diameter of the annulus of the support, can be designed to be less than or equal to about 40 mm. Such a design can help miniaturize the base, thereby helping to reduce the weight of the headstock and to improve the positioning accuracy, and to some extent to optimize the manufacturing and assembly tolerances of the headstock and the base.

[0061] According to an embodiment, the plurality of detent posts are three detent posts arranged on the upper surface of the annular body and spaced apart from each other in the circumferential direction.

[0062] According to another aspect of the present application, there is provided a headstock, comprising: a support frame comprising a support ring body and a plurality of support posts arranged on the support ring body and extending axially upward and spaced apart from each other in the circumferential direction; a planar rotary ring rotatably mounted on the support frame; an upper cover fixed to the planar rotary ring, such that the planar rotary ring is controllably rotatable mounted between the support frame and the upper cover; and a swing lever comprising a transverse axis and a longitudinal axis, the swing lever being mounted such that the longitudinal axis is controllably swingable at a swing angle θ; wherein the transverse axis is mounted in the diametrical direction within the planar rotary ring and is controllably rotatable together with the planar rotary ring at a rotation angle φ; wherein the longitudinal axis is perpendicular to the transverse axis, and the longitudinal axis is axially hollow, defining a piercing channel; wherein the support ring body, the planar rotary ring and the upper cover are coaxially arranged.

[0063] According to an embodiment, a magnetic ring that rotates together with the planar rotary ring is coaxially arranged on the planar rotary ring.

[0064] According to an embodiment, the swing lever is a T-shaped swing lever, and the intersection center point of the transverse axis and the longitudinal axis is concentric with the planar rotary ring.

[0065] According to an embodiment, the inner periphery of the planar rotary ring is provided with two transverse bearing seats opposite in the diametrical direction, and the two ends of the transverse axis are rotatably mounted in the two transverse bearing seats, respectively, such that the longitudinal axis is swingable.

[0066] According to an embodiment, the headstock is provided with a swing locking screw for locking the swing lever so as to be unable to swing.

[0067] According to an embodiment, a swing angle sensor for detecting the swing angle θ of the swing lever is provided at the top end of the longitudinal axis of the swing lever or in the vicinity thereof, wherein the swing angle sensor is an acceleration sensor.

[0068] According to an embodiment, a rotation locking hole and a corresponding rotation locking screw are provided on each support post.

[0069] According to an embodiment, a plurality of positioning holes spaced apart in the circumferential direction are further provided on the support ring body.

[0070] According to an embodiment, the upper cover is integrally disc-shaped and has a handle and a scale disc.

[0071] According to an embodiment, the upper cover is integrally disc-shaped and has a handle and a scale disc.

[0072] According to an embodiment, the upper cover is integrally disc-shaped and has a handle and a scale disc.

[0073] According to an embodiment, the angle detection control circuit is configured with a rotation angle sensor, a signal processing circuit, an acceleration sensor, and a main control MCU.

[0074] According to an embodiment, the rotation angle sensor is positioned at a tangent position of the edge of the magnetic ring.

[0075] According to another aspect of the present application, a method for automatically detecting and verifying the angle of a head holder by an angle detection control circuit is provided, the angle detection control circuit being configured with a rotation angle sensor, a signal processing circuit, an acceleration sensor, and a main control MCU, the method comprising the following steps: S1: calibrating the rotation angle sensor with the head holder at a calibrated initial zero position; S2: collecting the magnetic field strength of the magnetic ring of the head holder in real time by the rotation angle sensor, and performing amplification and filtering processing on the magnetic field strength data by the signal processing circuit, and outputting the data to the main control MCU; S3: obtaining the angle of rotation of the magnetic ring by the main control MCU through algorithm processing, the angle serving as the rotation angle φ of the swing lever of the head holder; S4: collecting the data of the acceleration sensor and the sensor data on the swing lever or the puncture needle by the main control MCU; S5: obtaining the swing angle θ and the rotation angle φ of the swing lever by the main control MCU through algorithm processing based on the data in steps S4 and S5; S6: sending the data of the rotation angle φ and the swing angle θ to the image processing system in real time by the main control MCU, and comparing with the target angle calculated by the image processing system; and S7: when the rotation angle φ and the swing angle θ are consistent with the corresponding target angle, prompting verification success.

[0076] According to an embodiment, the head holder is as described above; and in step S4, the sensor data on the swing lever or the puncture needle is acceleration sensor data.

[0077] According to the concept of another aspect of the present application, there is provided a head holder assembly, comprising: a base configured to be fixed on a skull of a patient, the base comprising a support, a plurality of biocompatible screws mounted on the support, and a radiopaque ring, wherein the radiopaque ring is provided with a radiopaque ring zero scale point, and the radiopaque ring and the radiopaque ring zero scale point are identifiable by CT or MRI imaging technology; a head holder, comprising: a support frame; a planar rotating ring rotatably mounted on the support frame; an upper cover mounted on the planar rotating ring and provided with a scale disc showing a rotation angle φ; and a swing rod composed of a horizontal shaft and a vertical shaft, the swing rod being mounted to be controllably swingable at a swing angle θ and controllably rotatable with the planar rotating ring at the rotation angle φ; wherein the vertical shaft is axially hollow to define a puncture channel for detachable insertion of a puncture needle; and the head holder is detachably fixedly mounted on the base.

[0078] According to an embodiment, the support is a support of a ring-shaped body, the plurality of biocompatible screws are arranged at intervals along an outer periphery of the ring-shaped body, and the radiopaque ring is concentrically arranged on the ring-shaped body close to an inner periphery thereof; the support frame comprises a support ring body and a plurality of support columns arranged at intervals on the support ring body and extending axially upward; a magnetic ring is coaxially arranged on the planar rotating ring and rotatable with the planar rotating ring; the upper cover is disc-shaped as a whole and is provided with a handle; the vertical shaft of the swing rod is controllably swingable at the swing angle θ, and the horizontal shaft is mounted in a diametric direction within the planar rotating ring and is controllably rotatable with the planar rotating ring at the rotation angle φ; the vertical shaft is perpendicular to the horizontal shaft; and the support ring body, the planar rotating ring, the magnetic ring, and the upper cover are coaxially arranged.

[0079] According to an embodiment, the swing rod is a T-shaped swing rod, and a center point of intersection of the horizontal shaft and the vertical shaft is concentric with the planar rotating ring.

[0080] According to an embodiment, an inner periphery of the planar rotating ring is provided with two horizontal bearing seats opposite in a diametric direction, and two ends of the horizontal shaft are rotatably mounted in the two horizontal bearing seats, respectively, so that the vertical shaft is swingable.

[0081] According to an embodiment, the head holder assembly further comprises the puncture needle configured to be detachably inserted into the puncture channel.

[0082] According to an embodiment, a swing angle sensor for detecting the swing angle θ is arranged on the swing rod or the puncture needle; and an angle detection control circuit is arranged on the head holder and is provided with a rotation angle sensor for detecting the rotation angle φ.

[0083] According to an embodiment, a rotation locking hole and a corresponding rotation locking screw are arranged on each of the support columns.

[0084] According to an embodiment, a plurality of positioning holes are circumferentially spaced apart on the support ring body, and a plurality of clamping columns are provided on the annular main body of the support, and the head holder is detachably fixed on the base by cooperation between the plurality of positioning holes and the plurality of clamping columns.

[0085] According to an embodiment, a zero scale point of the developing ring is marked on the developing ring, and a rotation angle mark and a calibration zero scale point are marked on the scale disc.

[0086] According to an embodiment, in the initial state or the calibration state of the head holder assembly, the zero scale point of the developing ring is aligned with the calibration zero scale point.

[0087] According to an embodiment, the zero scale point of the developing ring is in the form of a notch.

[0088] According to an embodiment, a rotation angle mark and a calibration zero scale point are marked on the scale disc; and in the calibration state of the head holder assembly, the cross bearing seat is aligned with the zero scale point of the developing ring and the calibration zero scale point.

[0089] According to an embodiment, the puncture needle is provided with a clamping buckle and a clamping screw.

[0090] According to an embodiment, a scale mark is provided on the puncture needle.

[0091] According to an embodiment, the head holder assembly is configured as a three-dimensional spatial orientation system for brain craniotomy.

[0092] According to the concept of another aspect of the present application, an angle console for automatically adjusting the angle of a head holder is provided, the head holder is provided with a plane rotating ring capable of rotating at a rotation angle (φ) relative to the head holder, and a swing lever mounted on the plane rotating ring and capable of rotating together with the plane rotating ring, wherein the swing lever is mounted to be capable of swinging at a swing angle (θ) relative to the plane rotating ring, the angle console comprises: a rotation driving assembly configured to drive the head holder to rotate; a swing driving assembly configured to drive the head holder to swing; a transmission mechanical arm operatively connected with the rotation driving assembly and the swing driving assembly; a control circuit configured to control the rotation driving assembly and the swing driving assembly; a computer configured to calculate the rotation angle (φ) and the swing angle (θ) and send a command to the control circuit; and a head holder clamping mechanism for clamping and fixing the head holder; wherein the rotation driving assembly and the swing driving assembly are configured to receive control commands from the computer and / or the control circuit to drive and control the components of the head holder by means of the transmission mechanical arm, thereby performing automatic control and adjustment of the rotation angle and the swing angle of the head holder.

[0093] According to an embodiment, the transmission mechanical arm is configured to be operatively connected and operated to control the swing lever to rotate and swing, thereby performing automatic control and adjustment of the rotation angle and the swing angle.

[0094] According to an embodiment, the transmission mechanical arm comprises a mechanical claw connector, a mechanical claw detachably connected to the mechanical claw connector, and a coil spring sleeved on the mechanical claw.

[0095] According to an embodiment, the swing rod is a T-shaped swing rod composed of a longitudinal axis and a transverse axis, and the mechanical claw of the transmission mechanical arm is configured to be capable of gripping or clamping on the longitudinal axis of the T-shaped swing rod.

[0096] According to an embodiment, the rotary drive assembly comprises a rotary drive motor mounted on the motor bracket, and a rotary reduction gear and a rotary transmission gear operatively connected to the rotary drive motor.

[0097] According to an embodiment, the rotary drive assembly further comprises a rotary encoder, and the rotary encoder and the control circuit are configured to have a control accuracy of the rotary transmission gear up to 0.02°.

[0098] According to an embodiment, the swing drive assembly comprises a swing drive motor mounted on the motor bracket, and a swing reduction gear and a swing transmission device operatively connected to the swing drive motor.

[0099] According to an embodiment, the swing drive assembly further comprises a swing encoder, and the swing encoder and the control circuit are configured to have a control accuracy of the swing transmission device up to 0.02°.

[0100] According to an embodiment, the transmission mechanical arm automatically controls and adjusts the swing angle by controlling the swing of the longitudinal axis, and automatically controls and adjusts the rotation angle by controlling the rotation of the longitudinal axis and the plane rotation ring.

[0101] According to an embodiment, the head holder clamping mechanism comprises a clamping flap, a clamping screw, and a clamping base.

[0102] According to an embodiment, the angle control console is configured to be capable of automatically calibrating the angle of the head holder.

[0103] According to the concept of another aspect of the present application, a method for automatically adjusting the angle of the head holder is provided, the method is performed by the angle control console, and the method comprises the following steps: fixing the head holder on the angle control console; operatively connecting one end of a transmission mechanical arm of the angle control console to both a rotary drive assembly and a swing drive assembly, and operatively connecting the other end to the head holder; sending a control command by an operator through a computer or a control circuit; receiving the control command by the rotary drive assembly and the swing drive assembly, and driving the transmission mechanical arm to operate corresponding components of the head holder to perform automatic control and adjustment of the rotation angle and the swing angle of the head holder.

[0104] According to an embodiment, the transmission mechanical arm performs automatic control and adjustment of the rotation angle and the swing angle by operating the swing rod of the head holder.

[0105] According to an embodiment, the above method is performed by the angle console as described above.

[0106] According to the concept of another aspect of the present application, a method for three-dimensional reconstruction and spatial positioning of a head frame assembly is provided, the head frame assembly comprising a base with a visible ring and a head frame mounted on the base, the head frame comprising: a planar rotating ring rotatably mounted on a support frame; a swing rod composed of a horizontal shaft and a vertical shaft, the swing rod being controllably swingable at a swing angle θ, the horizontal shaft being mounted in a diametric direction within the planar rotating ring and being controllably rotatable with the planar rotating ring at a rotation angle φ, a center point of intersection (206) of the horizontal shaft and the vertical shaft being concentric with the planar rotating ring, and a vertical height of the visible ring to the center point of intersection (206) being h; the method comprising the following steps: fixing the base on a patient's skull, and performing CT / MRI scanning; performing three-dimensional reconstruction on images of the CT / MRI scanning, wherein a plane of the visible ring in the images of the CT / MRI scanning is defined as a base plane (502), and a target point T of a lesion in the patient's skull is determined according to the images of the CT / MRI scanning; mapping a head frame plane (501) parallel to the base plane (502) at a height h above the base plane (502), and establishing a three-dimensional rectangular coordinate system (x, y, z) with the head frame plane (501) as a reference, wherein an (x, y) plane of the three-dimensional rectangular coordinate system coincides with the head frame plane (501), an origin o of the three-dimensional rectangular coordinate system coincides with the center point of intersection (206), and a z axis of the three-dimensional rectangular coordinate system passes through the origin o and is perpendicular to the head frame plane (501); mapping a lesion plane (503) parallel to the base plane (502) below the base plane (502), so that the target point T of the lesion is located in the lesion plane (503), an origin o' of the lesion plane is located at the origin o, and an x' axis of the lesion plane is parallel to the x axis of the three-dimensional rectangular coordinate system; calculating a length r of a straight line between the origin o and the target point T of the lesion according to the images of the CT / MRI scanning; calculating an included angle ∠Too' between the straight line (r) and the z axis, the included angle ∠Too' being equal to the swing angle θ; calculating an included angle ∠To'x' formed by a To' connecting line between the target point T of the lesion and the origin o' in the lesion plane (503) relative to the x' axis, the included angle ∠To'x' being equal to the rotation angle φ; and obtaining polar coordinates of the target point T of the lesion in a three-dimensional spherical polar coordinate system established with the origin o, the polar coordinates being (r, θ, φ).

[0107] According to an embodiment, the above method comprises adjusting the head frame angle according to the parameters of the polar coordinates (r, θ, φ).

[0108] According to an embodiment, the above method further comprises mounting the head frame on the base, and setting the head frame assembly in an initial state or performing zero calibration.

[0109] According to an embodiment, the zero calibration includes aligning a zero calibration point on the head frame with a zero calibration point on the swing ring.

[0110] According to an embodiment, the zero calibration includes aligning a zero calibration point on the head frame with a zero calibration point on the swing ring.

[0111] According to an embodiment, the method includes adjusting the rotation angle and the swing angle of the swing rod according to the angle parameters of the polar coordinates (r, θ, φ).

[0112] According to an embodiment, the method includes locking the position of the swing rod after adjusting the rotation angle and the swing angle.

[0113] According to an embodiment, the method includes inserting a puncture needle into a puncture channel of the swing rod, and adjusting and fixing the puncture depth L of the puncture needle according to the parameter r of the polar coordinates (r, θ, φ).

[0114] According to an embodiment, the puncture depth L is calculated according to the following formula: L = r + r1, where r is the parameter r in the polar coordinates (r, θ, φ), and r1 is the length of the longitudinal axis of the swing rod.

[0115] According to an embodiment, the method includes correcting and / or verifying the head frame plane (501) and the three-dimensional orthogonal coordinate system according to the image of the plane rotation ring in the image of the CT / MRI scan.

[0116] The technical problems solved by one or more aspects and embodiments of the present application include, but are not limited to, the following:

[0117] To enable, for example, neurosurgeons to perform brain surgery or preoperative training and simulation more safely and accurately, thereby improving the success rate of surgery and reducing the risk rate of surgery;

[0118] To solve the problems of improving positioning accuracy and simplifying the operation process by optimizing the positioning coordinate system of the lesion target point to the puncture channel;

[0119] To solve the problem of reducing the weight of the head frame by optimizing the design of the head frame structure and selecting medical-grade PTFE as the main material;

[0120] In the optimization design of the head frame structure, such as by making the base and the head frame separable, by using a T-shaped swing rod to adjust the angles of two different dimensions from two different directions in cooperation with the rotation ring, thereby realizing the miniaturization of the head frame volume, which helps to solve the problems of reducing the weight of the head frame and improving the positioning accuracy from another aspect;

[0121] To solve the problem of simplifying the operation process by modularizing the structure, reducing the number of parts, automatically calculating the angle by the image processing system, automatically adjusting the angle by the angle control console, and optimizing the transmission mode;

[0122] The problem of improving positioning accuracy is addressed by fixing a base to the skull, employing high-precision attitude sensors such as accelerometers, using algorithms to calibrate angles, and using image processing systems to calculate angles; and

[0123] The goal is to reduce practical costs by controlling consumable costs and eliminating large, expensive equipment.

[0124] Further embodiments of the present invention can achieve other advantageous technical effects not listed hereon, which may be partially described below and will be expected and understood by those skilled in the art after reading the present invention. Attached Figure Description

[0125] The above-described features and advantages of these embodiments, as well as other features and advantages, and the ways in which they are implemented, will become more apparent and the embodiments of the invention will be better understood by referring to the following description in conjunction with the accompanying drawings, in which:

[0126] FIG. 1 This is a schematic diagram of a three-dimensional spatial orientation system for use in neurosurgical procedures according to an embodiment of the present invention, illustrating the general overall configuration of the embodiment of the three-dimensional spatial orientation system.

[0127] FIG. 2 It is applicable to an embodiment of the present invention. FIG. 1 The schematic diagram of the headframe assembly of the three-dimensional spatial orientation system shown illustrates its general overall configuration and construction.

[0128] FIG. 3 It is applicable to an embodiment of the present invention. FIG. 1 A schematic diagram of the puncture needle assembly of the three-dimensional spatial orientation system is shown.

[0129] FIG. 4 It is based on what can be used FIG. 3 A schematic diagram of the puncture needle scale lines of the puncture needle assembly shown.

[0130] FIG. 5 It is applicable to an embodiment of the present invention. FIG. 2 The diagram shows an exploded view of the headframe assembly.

[0131] FIG. 6 yes FIG. 5 The diagram shows the assembled headframe as viewed from above.

[0132] FIG. 7 yes FIGS. 5-6 The diagram shows an exploded view of the headframe T-shaped swing rod and the planar rotating ring of the headframe assembly before assembly.

[0133] FIG. 8 is a schematic view of a headgear and how it rotates of the headgear assembly shown in FIGS. 5-6

[0134] FIG. 9 is a schematic view of a headgear and how it swivels of the headgear assembly shown in FIGS. 5-6

[0135] FIG. 10 is a schematic view of the angle detection control circuit of the three-dimensional spatial orientation system shown in FIG. 1

[0136] FIG. 11 is a schematic view of the rotational angle sensor installation of the angle detection control circuit of the three-dimensional spatial orientation system shown in FIG. 1

[0137] FIG. 12 is a schematic view of the base of the headgear assembly of the three-dimensional spatial orientation system shown in FIG. 1

[0138] FIG. 13A is a schematic perspective view of the assembled headgear assembly shown in FIG. 2

[0139] FIG. 13B is a schematic perspective view of the assembled headgear assembly shown in FIG. 13A

[0140] FIG. 14A is a schematic view of the assembled headgear and calibration jig of the three-dimensional spatial orientation system shown in FIG. 1

[0141] FIG. 14B is an exploded schematic view of the headgear and calibration jig shown in FIG. 14A

[0142] FIG. 15A is a front view schematic view of the angle console of the three-dimensional spatial orientation system shown in FIG. 1

[0143] FIG. 15B is a schematic block diagram of the motor connection and control of the angle console of the three-dimensional spatial orientation system shown in FIG. 1 ​​​​​​​​​​​

[0144] FIG. 16 is a schematic diagram of a 2-motor combination and mounting for an angle console according to an embodiment of the present application. FIG. 1 is a side view schematic diagram of an angle console of a three-dimensional space orientation system.

[0145] FIG. 17 is a schematic diagram of a 2-motor combination and mounting for an angle console according to an embodiment of the present application.

[0146] FIG. 18A is a schematic diagram of a 2-motor combination and mounting for an angle console according to an embodiment of the present application.

[0147] FIG. 18B is a schematic diagram of a 2-motor combination and mounting for an angle console according to an embodiment of the present application.

[0148] FIG. 19 is a schematic diagram of a 2-motor combination and mounting for an angle console according to an embodiment of the present application.

[0149] FIG. 20 is a schematic diagram of a 2-motor combination and mounting for an angle console according to an embodiment of the present application. FIG. 1 is a schematic diagram of a three-dimensional polar coordinate system established between the headstock and the base of a three-dimensional space orientation system.

[0150] FIG. 21 is a schematic diagram of a three-dimensional polar coordinate system model for establishing coordinate relationships between the headstock, the base, and the lesion. FIG. 20

[0151] is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application. FIG. 22 FIG. 1 is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application.

[0152] FIG. 23 FIG. 1 is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application.

[0153] FIG. 24 is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application. FIG. 1

[0154] is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application. FIG. 25 FIG. 1 is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application.

[0155] FIG. 26 FIG. 1 ​​​​System automation implementation flowchart of the illustrated three-dimensional space orientation system.

[0156] Reference numerals:

[0157] 100- puncture needle; 200A- head frame; 200B- base; 400- angle control console; 500- image processing system; 600- calibration jig; 101- puncture needle shaft; 102- puncture needle clamping buckle; 103- puncture needle scale; 104- acceleration sensor; 105- clamping screw; 201- support frame; 201A- support ring body; 201B- support column; 202- plane rotation ring; 203- magnetic ring; 204- T-shaped swing rod; 205- acceleration sensor; 208- upper cover; 207- puncture channel; 209- angle detection control circuit; 210- calibration zero scale point; 225- positioning hole; 206- head frame origin o; 211- horizontal bearing seat; 212- horizontal shaft; 213- vertical shaft; 224- vertical shaft length r1; 214- initial position of plane rotation ring; 215- position after rotation of plane rotation ring; 216- rotation angle (φ); 217- rotation direction of plane rotation ring; 218- swing angle (θ); 219- position after swing of T-shaped swing rod; 220- initial position of T-shaped swing rod; 221- swing direction of T-shaped swing rod; 226- rotation angle sensor; 227- signal processing circuit; 228- acceleration sensor; 229- main control MCU; 230- LED indicator light; 231- rotation locking hole; 231A- rotation locking screw; 231B- swing locking screw; 232- PCB; 301- titanium screw; 302- support; 303- development ring zero scale point s'; 304- development ring; 305- base origin o'; 306- clamping column; 222- calibration point s of rotation angle of head frame (horizontal bearing seat aligns with zero point position); 223- horizontal overlap of zero scale of head frame and zero scale of base; 601- clamping clamp; 602- positioning column; 603- zero scale point; 401A- rotation motor assembly; 401- rotation drive motor; 402- rotation reduction gear; 403- rotation encoder; 404- rotation transmission gear; 405- motor support; 406A- swing motor assembly; 406- swing drive motor; 407- swing reduction gear; 408- swing transmission device; 409- swing encoder; 410- computer; 411- transmission mechanical arm; 412- head frame clamping mechanism; 413- mechanical claw; 414- spring; 415- mechanical claw connecting piece; 416- clamping flap; 417- clamping screw; 418- clamping base; 419- control circuit; 420- fixed support; 501- plane of head frame; 502- plane of base; 503- lesion plane; 504- three-dimensional coordinate system xyz; 505- rotation starting point s of head frame. DETAILED DESCRIPTION

[0158] The details of one or more embodiments of the application are set forth in the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims.

[0159] It is to be understood that the embodiments illustrated and described are not intended to be limited to the details shown, since the techniques expressly provide for variations and modifications. Rather, the scope of the various embodiments is to be accorded the broadest interpretation of the various claims so as to encompass all such modifications and equivalent structures and functions. In brief, the various embodiments of the application are directed to a system for providing a three-dimensional spatial orientation system for brain surgery.

[0160] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The use of "including," "comprising," or "having" and variations thereof herein are meant to encompass the items listed thereafter and equivalents thereof as well as additional items.

[0161] The application will be described in greater detail with reference to a number of embodiments illustrated in the drawings.

[0162] Three-dimensional spatial orientation system

[0163] FIG. 1 is a schematic view of a three-dimensional spatial orientation system for brain surgery in accordance with an embodiment of the application, showing the general overall configuration of the three-dimensional spatial orientation system embodiment.

[0164] As FIG. 1 shown, the three-dimensional spatial orientation system embodiment can include a headgear assembly, which can include a base 200B and a headgear 200A mounted on the base 200B. The headgear assembly can also include a puncture needle 100 mounted on the headgear 200A, for example inserted into a T-shaped swing lever of the headgear 200A, as detailed below. The headgear assembly can enable calibration and adjustment of the puncture path, puncture angle, and puncture depth of a lesion target T, as detailed below.

[0165] In one example of the three-dimensional spatial orientation system of the application, the puncture path, including the puncture angle and the puncture depth, of a surgical device such as the puncture needle 100 can be adjusted automatically. In this case, an angle control console 400 is required, as FIG. 1 shown.

[0166] Of course, in one example of the three-dimensional spatial orientation system of the present application, the puncture path of the puncture needle 100, including the puncture angle and the puncture depth, can be manually adjusted by an operator, such as a doctor. In this case, one skilled in the art can understand that the calibration and adjustment of the surgical device, such as the puncture needle 100, can still be achieved without the angle control console 400 and the hardware and configuration associated therewith.

[0167] The embodiment of the three-dimensional spatial orientation system can further include an image processing system 500 (schematically shown in FIG. 1) and a calibration jig 600 (schematically shown in FIG. 2) for processing brain images. FIG. 1 The image processing system 500 can be used for data extraction, three-dimensional reconstruction, lesion path planning, angle calculation and control display, etc. The calibration jig 600 can be used to determine the initial position of the rotation angle sensor and / or the acceleration sensor.

[0168] The general composition and configuration of the three-dimensional spatial orientation system are summarized as follows, and the detailed description is given later.

[0169] (1) Image processing system

[0170] The image processing system can be installed in a computer located in a doctor's office or operating room, for example, or integrated in the angle control console. One example of the image processing system can include a plurality of processing modules, such as data extraction, three-dimensional reconstruction, lesion path planning, angle calculation and control display modules, etc. The data extraction module can read the image data in DICOM format and parse and extract the corresponding patient information. The three-dimensional reconstruction module can perform volume and surface rendering operations on the extracted data to achieve three-dimensional reconstruction and simulate the head holder origin plane. The lesion path planning module can plan the puncture path according to the three-dimensional reconstructed lesion and head holder model information. The angle calculation module can measure the plane rotation angle, longitudinal axis swing angle and depth of the lesion target point to the head holder origin point according to the planned puncture path. The control display module can send calibration commands for the head holder and the sensor, and display the current head holder angle state in real time.

[0171] (2) Angle control console

[0172] One example of the angle control console can include a computer, a fixed support, a high-precision motor, a transmission device and a control circuit. The computer can install the image processing system and send control commands to the control circuit through a serial port. The fixed support can fix the head holder. The high-precision motor can receive the drive of the control circuit to achieve high-precision angle adjustment and ensure accurate positioning. The control circuit can be connected to the computer, receive its control commands and drive the high-precision motor to rotate. The transmission device can be connected to the high-precision motor and rotate with it to achieve automatic adjustment of the angle of the head holder.

[0173] (3) Base

[0174] One example of the base can include a developing ring, a bracket, and a biocompatible screw such as a titanium screw. The developing ring can be embedded in the bracket to facilitate CT / MRI recognition and establish a coordinate system. The bracket can be used to fix the head frame and establish a coordinate link between the head frame and the patient's lesion. The titanium screw can be used to fix the bracket to the patient, and together with the developing ring, it can be recognized by CT / MRI to establish a coordinate system.

[0175] (4) Head frame

[0176] One example of the head frame can include a support frame, a plane rotation ring, a magnetic ring, a swing rod, an acceleration sensor, an origin, a puncture path, an upper cover, and an angle detection control circuit. The support frame can be fixed to the base and provide a stable rotation environment for the plane rotation ring, which can have a rotation locking screw inside to prevent the plane rotation ring from moving. The plane rotation ring can be rotatably installed on the support frame and pressed by the upper cover to achieve flexible rotation. The magnetic ring can be embedded in the plane rotation ring to provide a basis for angle measurement for the angle detection circuit. The swing rod can be fixed to the plane rotation ring and can swing along the longitudinal axis with a puncture path inside. The swing rod can have a swing locking screw inside that can be locked during non-working periods and cannot swing, but can be loosened to allow the swing rod to swing when needed. After adjusting to the desired swing angle, the swing locking screw can be tightened again to lock the swing rod at that angle. The sensor can be fixed above the swing rod or above the puncture needle to detect the swing angle, which can be omitted in the automatic adjustment implementation. The origin, for example, can be the center of the plane rotation ring, which, together with the vertical plane of the plane rotation ring, establishes a spatial coordinate system. The puncture path can be the longitudinal central lumen of the swing rod, which can have different specifications according to the diameter of the puncture needle. The upper cover can be fixed to the support frame to ensure the rotation environment of the plane rotation ring. Depending on the implementation steps, it can be divided into automatic adjustment upper cover and manual adjustment upper cover. The manual adjustment upper cover can increase the cavity surface for fixing the angle detection control circuit in the case of using automatic adjustment technology. The angle detection control circuit can be fixed in the manual adjustment upper cover, which has a rotation angle sensor and a body posture sensor such as an acceleration sensor, and the rotation angle sensor can be tangentially arranged along the edge of the magnetic ring.

[0177] (5) Puncture needle

[0178] One example of the puncture needle can include a locking buckle and a puncture needle. The locking buckle can have flexibility and can move freely on the puncture needle and be securely locked on the puncture needle after adjusting to the predetermined length. The puncture needle can have different sizes according to different surgeries and have a scale inside to move smoothly in the puncture path. Further, a locking screw that can cooperate with the locking buckle can be provided to fix the puncture length (e.g., adjusted to the position).

[0179] The following describes in detail the three-dimensional spatial orientation system, its components, its operation and calibration, etc., with reference to the accompanying drawings and embodiments.

[0180] Headgear assembly

[0181] like FIGS. 2-9 As shown, FIG. 2 It is applicable to an embodiment of the present invention. FIG. 1 The schematic diagram of the headframe assembly 200 of the three-dimensional spatial orientation system shown illustrates its general overall configuration and construction. FIG. 5 It is applicable to an embodiment of the present invention. FIG. 2 An exploded view of the headframe 200A of the headframe assembly 200 shown. FIG. 6 yes FIG. 5 The diagram shows a top-down view of the assembled headframe assembly 200. FIG. 7 yes FIGS. 5-6 An exploded view of the T-shaped swing rod 204 and the planar rotating ring 202 of the head frame 200A of the head frame assembly 200 before assembly. FIG. 8 It is a demonstration FIGS. 5-6 A schematic view of the headframe 200A of the headframe assembly 200 and how it rotates. FIG. 9 yes FIGS. 5-6 A schematic view of the headframe 200A of the headframe assembly 200 and how it swings.

[0182] According to one example, headframe assembly 200 may include headframe 200A and base 200B, as well as other optional components.

[0183] Headgear

[0184] In one example, the headframe 200A may consist of a support frame 201, a planar rotating ring 202, a magnetic ring 203, a T-shaped swing arm 204, an acceleration sensor 205, and a top cover 208, etc. The planar rotating ring 202 may be fixedly mounted on the support frame 201. The magnetic ring 203 may be fitted onto the planar rotating ring 202, for example, nested substantially flush with the inwardly recessed step at the top of the planar rotating ring 202. The top cover 208 is positioned above the magnetic ring 203 and the planar rotating ring 202. The T-shaped swing arm 204 is rotatably and swingably mounted within the headframe 200A, and an acceleration sensor 205 may be located at or near the top of the T-shaped swing arm 204, such as... FIGS. 2-6 As shown.

[0185] The support frame 201 has a support ring body 201A that is generally circular or hollow cylindrical in shape, and a plurality of ( ) arranged on the support ring body 201A and circumferentially spaced apart. FIGS. 5-9 (As shown in the image, there are 3) support columns 201B.FIGS. 8-9 As shown, the planar rotating ring 202 of the head frame 200A (and other components thereon) abuts against the support ring body 201A and is rotatably nested within the radially inner side of the three support columns 201B. Thus, the three support columns 201B provide circumferential boundaries and constraints for the installation and rotational movement of the planar rotating ring 202, ensuring that it can be reliably and rotatably installed and held on the support frame 201. Furthermore, the three support columns 201B also provide structural strength and support for the support frame 201 itself and other components (if any) mounted thereon.

[0186] like FIGS. 5-9 As shown, the support ring 201A, specifically the three support posts 201B, may also have multiple, for example, three rotary locking holes 231 – each support post 201B has a radially extending rotary locking hole 231, which can be used to selectively lock the planar rotating ring 202 when needed so that it cannot rotate relative to the support frame 201. Each rotary locking hole 231 is provided with a rotary locking screw 231A that can be turned for radial adjustment. When the rotary locking screw 231A is turned and tightened to extend radially inward, the planar rotating ring 202 will be radially constrained and locked by the rotary locking screw 231A and cannot rotate freely (adjust the rotation angle). When the rotary locking screw 231A is turned and loosened to extend radially outward, the planar rotating ring 202 will no longer be radially constrained by the rotary locking screw 231A, and can thus rotate freely (adjust) together with other head frame components, such as magnetic ring 203, T-shaped swing arm 204, acceleration sensor 205 and top cover 208.

[0187] The support ring 201A of the support frame 201 may also be provided with a plurality of circumferentially spaced positioning holes 225, such as three. FIG. 6 and FIGS. 8-9 As shown, it is used to fix the head frame 200A to the base 200B, and at the same time it can also provide a support base for the planar rotating ring 202 that is rotatably mounted on the support ring body 201A for relative rotation.

[0188] As described above, a magnetic ring 203 is embedded in the planar rotating ring 202, ensuring that the magnetic ring 203 rotates along with the planar rotating ring 202 when it rotates. The planar rotating ring 202 may also be provided with two horizontal bearing seats 211 for mounting the T-shaped swing arm 204. These two horizontal bearing seats 211 are used to rotatably mount the T-shaped swing arm 204 (specifically, the horizontal axis 212 of the T-shaped swing arm), so that after installation, the T-shaped swing arm 204 (specifically, the horizontal axis 212 of the T-shaped swing arm) can pivot relative to these two horizontal bearing seats 211. This pivoting makes the entire T-shaped swing arm 204 (specifically, the vertical axis 213 of the T-shaped swing arm) appear to be swinging. The planar rotating ring 202 is relatively rotatable, allowing the entire T-shaped swing arm 204 to rotate along with the planar rotating ring 202, thus enabling adjustment of the headframe 200A's rotation angle.

[0189] The magnetic ring 203 can be a neodymium iron boron magnetic ring that can be radially magnetized, which can provide measurement data for the rotation angle sensor 226.

[0190] According to one example, the T-shaped swing arm 204 can be composed of a horizontal axis 212 and a vertical axis 213, which together form a general T-shape. The intersection point 206 of the horizontal axis 212 and the vertical axis 213 can be set as the headframe origin o 206. The T-shaped swing arm 204 is used to adjust the swing angle of the headframe 200A, in which case the headframe origin o 206 can be set as the positioning origin of the three-dimensional spatial orientation system.

[0191] The acceleration sensor 205, which is mounted on the T-shaped swing arm 204, can be used to detect the swing angle of the head frame 200A. It can be fixed at the upper end of the longitudinal axis 213 or at its vicinity, but is not limited to this position. It can also be mounted on the puncture needle or other accessories, as long as its relative position with the T-shaped swing arm 204 remains constant during operation.

[0192] With handle ( FIGS. 5-8 The disc-shaped top cover 208 (as shown) can be used to fix the headstock 200A and keep the planar rotating ring 202 rotating in the same plane during rotational movement without vertical displacement. The top cover 208 may be provided with (e.g., printed or engraved) a scale to display the rotation angle of the planar rotating ring 202; the zero point of the scale is the calibration zero mark 210. On the right handle of the top cover 208 (e.g., ... FIGS. 5-6 An angle detection control circuit 209 may be selectively installed below or above (as shown). The angle detection control circuit 209 may be configured with a rotation angle sensor 226, a signal processing circuit 227, an acceleration sensor 228, and a main control MCU 229. The rotation angle sensor 226 may be an off-axis magnetic sensor, which can be installed at a position tangent to the edge of the magnetic ring 203, for example... FIG. 11As shown. Since the magnetic field strength is different at different positions of the magnetic ring 203, the rotation angle sensor 226 can detect the change in magnetic field strength before and after the magnetic ring 203 rotates, and then transmit the signal to the main control MCU 229 after passing through the signal processing circuit 227, thus detecting the relative rotation angle.

[0193] Base

[0194] Based on an example, such as FIG. 12 As shown, the base 200B may consist of a generally annular support 302, a developing ring 304, and a plurality of, for example, three titanium screws 301 arranged on the outer circumference of the support 302. FIG. 12 The three titanium screws 301, arranged circumferentially at equal intervals, are used to fix the annular support 302 (along with the base 200B and the head frame 200A fixed to the base 200B) to the patient's skull, ensuring that the reference point does not shift during use and establishing a fixed coordinate relationship between the head frame 200A and the patient's lesion. According to one example, the annular support 302 of the base 200B can be designed such that the outer diameter of the annulus of the support 302 is less than or equal to approximately 40 mm, and the dimensions of other components of the base 200B are designed to fit this. This design contributes to the miniaturization of the base 200B and the head frame design.

[0195] The imaging ring 304 can be substantially concentrically embedded in the annular support 302, for example, arranged around its inner circumference and located radially inside it, and perfectly flush with the plane of the support 302. The imaging ring 304 can, for example, be a metal ring recognizable by CT / MRI, facilitating CT / MRI identification and the establishment of a coordinate system. A notch can be provided at the zero mark on the imaging ring 304, such as... FIG. 12 As shown, the zero mark s'303 of the developing ring. When the base 200B is aligned with and installed in place with the headstock 200A, the physical installation position of the zero mark s'303 of the developing ring can be aligned with the position of the calibration zero mark 210 on the headstock 200A, for the image processing system to identify the starting point / zero mark.

[0196] As described above, the developing ring 304 shares a common center with the support 302, which is the base origin o'305. The support 302 may have multiple, for example, three, locking posts 306 embedded in its circumference. When the headstock 200A is assembled onto the base 200B, the locking posts 306 need to be aligned with the positioning holes 225 to ensure that the zero-scale point s'303 of the developing ring on the base 200B is aligned with the calibration zero-scale point 210 of the headstock 200A. FIG. 13A and 13B As shown, the headstock rotation angle calibration point s (the horizontal bearing housing is aligned with the zero point) 222 is displayed, and the position indication 223 of the headstock zero scale and the base zero scale being horizontally aligned is also displayed.FIG. 13A is an assembled headrest assembly 200 according to an embodiment FIG. 2 is a schematic perspective view of one view of the assembled headrest assembly 200 according to an embodiment. FIG. 13B is FIG. 13A is a schematic perspective view of another view of the headrest assembly 200 according to an embodiment, showing headrest plane calibration.

[0197] Angular detection and control

[0198] In conjunction with, for example FIG. 10 As shown, the angle detection control circuit 209, the signal processing circuit 227, the master MCU 229, the LED indicator 230, etc. can be arranged on, for example, a PCB (printed circuit board) 232. An embodiment of the angle detection and verification steps using the headrest 200A with the angle detection control circuit 209 is as follows:

[0199] 1) Calibrate the rotation angle sensor 226 with the headrest 200A at the calibrated initial zero point position;

[0200] 2) The rotation angle sensor 226 collects the magnetic ring magnetic field strength in real time, and the collected data is amplified and filtered by the signal processing circuit 227 and then output to the master MCU 229;

[0201] 3) The master MCU 229 obtains the accurate angle information of the magnetic ring after rotation, that is, the headrest rotation angle, through algorithm processing;

[0202] 4) The master MCU 229 receives the acceleration sensor (104, 205 or one of the other accessories) data;

[0203] 5) The master MCU 229 collects the acceleration sensor 228 data on the angle detection control circuit;

[0204] 6) The master MCU 229 obtains the accurate T-shaped swing rod 204 swing angle relative to the headrest 200A through algorithm processing of the data of the two acceleration sensors;

[0205] 7) The master MCU 229 sends the current angle information of the headrest 200A to the image processing system in real time, and compares it with the target angle calculated by the image processing system; and

[0206] 8) When the adjusted angle of the headrest is close to and consistent with the target angle, the operator and the angle console 400 can be reminded by the LED indicator 230.

[0207] Another embodiment of the angle detection and control steps of the headrest 200A (the headrest does not contain the angle detection control circuit) is as follows:

[0208] 1) Mount the head frame 200A onto the base 200B through multiple, for example, the three positioning holes 225 shown in the figure;

[0209] 2) Loosen the swing locking screw on the horizontal bearing seat 211 of the headstock 200A so that the longitudinal axis 213 of the T-shaped swing rod 204 can swing left and right, for example... FIG. 9 As indicated by the dotted arrow, continue swinging until the desired angle is reached, then tighten the swing locking screw to lock the T-shaped swing arm in place.

[0210] 3) Loosen the rotary locking screw 231A in the rotary locking hole 231 on the headstock 200A, so that the planar rotating ring 202 (thereby driving the magnetic ring 203 and the T-shaped swing rod 204) can rotate freely in the rotation plane along the rotation direction 217 of the planar rotating ring (adjustment), such as FIG. 8 The rotation is continued in the direction indicated by the dashed arrow 217 until the expected angle is reached, and then the rotation locking screw 231A in the rotation locking hole 231 is tightened to lock the planar rotating ring 202 in place.

[0211] Calibration jig and calibration method

[0212] FIG. 14A It is applicable to an embodiment of the present invention. FIG. 1 The diagram shows the overall assembly of the headframe and calibration fixture 600 of the three-dimensional spatial orientation system. FIG. 14B yes FIG. 14A The exploded view of the headframe and calibration fixture 600 shown illustrates the headframe assembly and the calibration fixture 600 used in conjunction with it.

[0213] For example, such as FIGS. 14A-14B As shown, the structure and slots at the top of the calibration fixture 600 are similar to the support of the base 200B, and can both be configured to match the headstock 200A with very high precision. For example, as FIG. 14A and 14B As shown, the circumference of the fixture may also be provided with three positioning posts 602 and a zero mark 603 for alignment, positioning and calibration. In addition, the calibration fixture 600 may also be provided with, for example, two clamping clips 601 to ensure that the T-shaped swing arm 204 of the headstock 200A is perpendicular to the plane of the calibration fixture 600 (parallel to the plane of the planar rotating ring 202) during calibration, thereby improving positioning accuracy.

[0214] An example of sensor calibration may include initial position determination and sensor software calibration.

[0215] The operational steps in one embodiment of performing calibration using calibration fixture 600 may include the following:

[0216] 1) Mount the head holder 200A on the calibration jig 600 through the locating hole 225;

[0217] 2) Align the 3 circumferentially spaced locating holes 225 of the head holder 200A with the 3 circumferentially spaced locating posts 602 of the calibration jig 600, thereby ensuring that the zero scale of the head holder 200A is aligned with the zero scale point 603 of the calibration jig 600, as shown in FIGS. 14A-14B

[0218] 3) Operate the clamping fixture 601 on the calibration jig 600 to make the longitudinal axis 213 of the T-shaped swing lever 204 perpendicular to the plane on which the calibration jig 600 lies;

[0219] 4) Lock the head holder 200A by, for example, rotating the locking screw and the swing locking screw, so that the T-shaped swing lever 204 and the planar swing ring 202 are fixed in the initial position;

[0220] 5) The above calibration steps can be performed before the product leaves the factory, thereby reducing the surgical preparation time and the learning time of the doctor (of course, they can also be performed after the product leaves the factory);

[0221] 6) Remove the head holder 200A from the calibration jig 600;

[0222] 7) Mount the head holder 200A on the base 200B, send the calibration command via the computer / image processing system, and perform software calibration of the acceleration sensor 228 and the angle sensor 226 by the master control MCU 229.

[0223] As an alternative example, the above steps 1) - 5) can also be completed by the angle control console fixed support 420.

[0224] Angular control console

[0225] As shown in FIGS. 15-19, an example of the angle control console 400 can include a rotation drive motor 401, a rotation reduction gear 402, a rotation encoder 403, a rotation transmission gear 404, a motor support 405, a swing drive motor 406, a swing reduction gear 407, a swing transmission device 408, a swing encoder 409, a computer 410, a control circuit 419, a transmission mechanical arm 411, and a head holder clamping mechanism 412. The head holder clamping mechanism 412 can be used to clamp the head holder 200A. The motor support 405 can have any suitable configuration, such as L-shaped, U-shaped, or H-shaped, for example, as shown in FIG. 15A and FIGS. 16-17 ​An exemplary configuration is shown, which can be used to fix / install the swing motor assembly 406A on one hand, and simultaneously install the rotary motor assembly 401A on the other hand, for example, it can be connected to the rotary transmission gear 404. The transmission robotic arm 411 can be used to drive the headstock clamping mechanism 412, so that the headstock 400A can realize rotational and swinging movements. As shown, one end of the transmission robotic arm 411 can be connected to the swing transmission device 408, and the other end can be connected to the headstock clamping mechanism 412. The headstock clamping mechanism 412 can be composed of a mechanical claw 413, a spring 414, a mechanical claw connector 415, etc. For example, FIG. 19 As shown, the fixing bracket 420 can be composed of a clamping flip cover 416, a clamping screw 417, a clamping base 418, etc., and together with the head frame clamping mechanism 412, it can be used to fix the head frame 200A and place it at the physical zero point position. According to the instructions sent by the operator, such as the surgeon, through, for example, a computer 410, the rotary drive motor 401, rotary reduction gear 402, rotary encoder 403, rotary transmission gear 404, transmission robotic arm 411, and head frame clamping mechanism 412 of the angle control console 400 automatically drive / adjust the planar rotating ring 202 of the head frame 200A on the angle control console 400 (thereby driving the magnetic ring 203 and the T-shaped swing rod 204 together) to rotate (adjust) within the rotation plane defined by the planar rotating ring 202 along the rotation direction 217 of the planar rotating ring according to the required rotation angle. Therefore, it can be used to adjust the rotation angle of the head frame 200A in the rotation plane.

[0226] According to instructions sent by operators such as surgeons via, for example, computer 410, the components of the angle control console 400, such as the swing drive motor 406, swing reduction gear 407, swing transmission device 408, swing encoder 409, transmission robotic arm 411, and headstock clamping mechanism 412 mounted on the motor bracket 405, automatically drive / adjust the T-shaped swing arm 204 of the headstock 200A on the angle control console 400 to swing (adjust) according to the required swing angle, so it can be used to adjust the swing angle of the longitudinal axis 213 of the headstock 200A.

[0227] like FIGS. 15A-15B and FIGS. 18A-18B As shown, the transmission robotic arm 411 may be composed of, for example, a robotic gripper 413, a spring 414, and a robotic gripper connector 415. The robotic gripper 413 can grasp and drive, for example, a T-shaped swing arm 204 of the head frame 200A, thereby automatically adjusting the angles of the head frame 200A in two directions, namely the rotation direction and the swing direction.

[0228] like FIGS. 16-17 and FIG. 19As shown, the headstock clamping mechanism 412, in conjunction with the transmission robotic arm 411, fixes the headstock 200A on the angle control console 400 without deviation and keeps the rotating components in the calibration position. The headstock clamping mechanism 412 may primarily consist of a clamping flip cover 416, clamping screws 417, and a clamping base 418. The circular / oblong mounting holes of the clamping flip cover 416 and the clamping base 418, when in position, form mounting positions that facilitate clamping the headstock 200A of the corresponding shape and size.

[0229] An example of the angle control console 400 may include a computer 410 configured to install an image processing system and send control commands to a control circuit 419 via a serial port. The control circuit 419 is configured to communicate with or be integrated with the computer 410, receive its control commands, and drive a high-precision drive motor to rotate.

[0230] According to one example, the rotary drive motor 401 and the oscillating drive motor 406 can be high-precision motors configured to operate in response to drive signals from the computer 410 (e.g., via control circuitry 419) to achieve high-precision angle adjustments or calibrations, ensuring accurate positioning.

[0231] The rotary motor assembly 401A may include, for example, a rotary drive motor 401 mounted on a fixed bracket or other fixed position, a rotary reduction gear 402 and a rotary transmission gear 404 operably connected to the rotary drive motor 401, and may include a rotary encoder 403. A control circuit 419 can drive the motor 401 to rotate the reduction gear 402 and transmission gear 404. The encoder 403 can detect the rotation angle and feed it back to the control circuit 419. The control circuit 419 can be configured to precisely control the rotation angle, for example, through an algorithm such as a PID algorithm, thereby achieving high-precision motor control and drive, enabling the control accuracy of the rotary transmission gear to reach up to 0.02°. The rotary motor assembly 401A drives the motor bracket 405 to rotate, and the motor bracket 405, together with the swing motor assembly 406A, rotates the transmission robotic arm 411 until the target rotation angle is reached.

[0232] The swing motor assembly 406A can include a swing drive motor 406 mounted on the motor bracket 405, and a swing reduction gear 407 and a swing transmission 408 operatively connected with the swing drive motor 406. The swing transmission 408 can be, for example, a belt transmission gear, such as in the form of a sector of a partial transmission gear. Also, the swing motor assembly 406A can further include a swing encoder 409. The swing encoder 409 can detect the swing angle and feed back to the control circuit 419, which can be configured to precisely control the swing angle, for example, by an algorithm, such as a PID algorithm, to achieve high-precision motor control and driving, so that the control accuracy of the swing transmission can be as high as 0.02°. The swing motor assembly 406A drives the swing transmission 408 to drive the transmission mechanical arm 411 to swing until the target swing angle is reached.

[0233] An example of the assembly and operation of the high-precision motor operation is as follows:

[0234] 1) The computer 410 sends a control command to the control circuit 419, which drives the rotation drive motor 401 to drive the rotation reduction gear 402 to rotate to increase the torque and control resolution, to provide a basis for high-precision rotation of the motor 401, while not generating a rotation in the stopped state of the motor 401.

[0235] 2) The rotation reduction gear 402 can drive the rotation transmission gear 404, which can be, for example, connected to the motor bracket 405 and the rotation encoder 403 in equal proportions, respectively. The rotation encoder 403 detects the rotation angle and feeds back to the control circuit 419, which can precisely control the rotation angle by an algorithm (e.g., a PID algorithm). In this way, the rotation encoder 403 can detect, for example, the rotation speed, i.e., the rotation angle of the load, and the angle control console 400 can thereby reduce the accuracy error generated between the rotation reduction gear 402 and the rotation transmission gear 404.

[0236] 3) The rotation encoder 403 can be a non-contact absolute value encoder with, for example, 17-bit resolution, which can measure the rotation position of the rotation drive motor 401, and the effective control accuracy is 14-bit, so that the control accuracy of the rotation drive motor 401 can reach about 0.02°.

[0237] The motor operation mode of the swing drive motor 406 can be basically the same as that of the rotation drive motor 401, for example, operated similarly as above, and thus is not described here.

[0238] An example of the operation of the angle control console 400 is as follows:

[0239] 1) Open the clamping flap 416 and place the headrest 200A on the clamping base 418;

[0240] 2) The structure of the clamping base 418 can be similar to the bracket 302 of the base 200B, which can make the head frame 200A in the calibration position;

[0241] 3) The transmission mechanical arm 411 makes the T-shaped swing rod 204 perpendicular to the plane of the head frame 200A;

[0242] 4) Tighten the clamping screw 417, so that the head frame 200A is very stably installed on the angle console 400 and kept in the calibration position;

[0243] 5) The operation of the rotary drive motor 401 and the swing drive motor 406 can be, for example, as described above, and the control can be completed by the control circuit 419, and the image processing system / software can be installed in the computer 410.

[0244] Piercing needle

[0245] The puncture needle 100 is configured to be inserted and fixed in the hollow inner cavity of the T-shaped swing rod 204, i.e., the puncture channel 207.

[0246] As shown in FIGS. 1-4 , the puncture needle 100 can be provided with a scale 103, and can be provided with a clamping buckle 102, so that the puncture depth of the puncture needle 100 can be adjusted according to the displayed scale. The clamping buckle 102 can be installed and configured to have a certain position flexibility, and can be freely positioned on the puncture needle 100, and after the puncture needle 100 is adjusted to a predetermined length, the clamping buckle 102 is stably clamped on the puncture needle 100. The acceleration sensor 104 can be installed at or near the top end (the upper end shown in the figure, or the proximal end, which is opposite to the distal end or surgical end of the puncture needle 100) as shown in FIGS. 2-3 , which can be used to measure the angle parameter during puncture.

[0247] The puncture needle 100 can have various sizes according to different uses or operations, and can be smoothly moved, inserted or withdrawn in the puncture channel 207.

[0248] Three-dimensional polar coordinate system and spatial positioning

[0249] FIG. 20 is a schematic diagram of a three-dimensional polar coordinate system established between the head frame 200A and the base 200B, which can be used for FIG. 1 the three-dimensional space orientation system shown. FIG. 21 is a schematic diagram of a three-dimensional polar coordinate system model shown in FIG. 20 , which can be used to establish a coordinate relationship between the head frame 200A, the base 200B and the lesion target T.

[0250] Spherical polar coordinates, also known as spherical polar coordinate system, is a kind of three-dimensional polar coordinate system, which is extended from two-dimensional polar coordinate system, and is used to determine the position of points, lines, surfaces and bodies in three-dimensional space. It takes the coordinate origin as the reference point, and is composed of azimuth angle, elevation angle and distance, for example, as shown in FIGS. 20-21 The essence of the working mode of polar coordinates in two dimensions is that a point in three-dimensional space can be specified by giving a direction and a distance. Spherical coordinates can work by defining a direction and a distance: in three dimensions, defining a direction requires two angles, for example, the rotation angle φ (identical to φ in the drawing, used interchangeably in this text) and the wobble angle θ, as shown in FIGS. 20-21 The three-dimensional spherical space also has two polar axes: the first axis is "horizontal", corresponding to the polar axis in two-dimensional polar coordinates or +x in three-dimensional Cartesian convention, and the other axis is "vertical", corresponding to "+z" in three-dimensional Cartesian convention.

[0251] The head frame plane 501 refers to a plane established with the origin o 206 of the head frame 200A as the reference. On this plane, the head frame origin o 206 is taken as the center, and the plane rotation ring 202 is taken as a concentric circle therein, thereby forming a fixed plane. The plane is composed of an infinite number of concentric circles, each with a different radius, but all with the origin o of the head frame 200A as the center.

[0252] As shown in FIGS. 20-21 In the three-dimensional space orientation system of the present application, the three-dimensional rectangular coordinate system (x, y, z) 504 refers to a coordinate system established with the head frame plane 501 (for example, the plane defined by the plane rotation ring 202) as the reference. The origin o 206 of the head frame 200A is the origin of the coordinate system, the axis in the os direction is the x-axis, the y-axis is the axis perpendicular to the x-axis after the os rotates 90° clockwise around the origin o in the head frame plane 501, and the z-axis is the axis perpendicular to the head frame plane 501 and downward through the origin o 206.

[0253] The base plane 502 refers to a plane established with the developing ring 304 of the base 200B as the reference, which is parallel to the head frame plane 501.

[0254] The lesion plane 503 refers to a plane simulated with the lesion target point T as the reference, which is set to be parallel to the base plane 502, and a two-dimensional coordinate system x'y' is established according to the plane. The origin (center) o' of the two-dimensional coordinate system (x', y') is the point where the origin o of the head frame 200A is mapped to the lesion plane 503 along the z-axis of the three-dimensional rectangular coordinate system (x, y, z) 504, wherein the x'-axis is the mapping of the x-axis of the three-dimensional rectangular coordinate system (x, y, z) 504 in the lesion plane 503, and the y'-axis is the mapping of the y-axis of the three-dimensional rectangular coordinate system (x, y, z) 504 in the lesion plane 503.

[0255] FIG. 22is a three-dimensional space orientation system according to an embodiment of the present application FIG. 1 Fig. 1 is a schematic diagram of a three-dimensional space orientation system according to an embodiment of the present application.

[0256] As shown in Fig. 2, the three-dimensional space orientation system according to an embodiment of the present application comprises a headrest 200A and a base 200B. FIG. 22 As shown in Fig. 3, one example of a process for simulating and calculating the polar coordinates of a lesion target T is as follows:

[0257] After the patient wears the base 200B, CT / MRI scanning is performed;

[0258] The position relationship, position parameters and / or images between the lesion target T in the patient's brain and the developing ring 304 of the base 200B are obtained.

[0259] A headrest plane 501 parallel to the developing ring 304 is mapped above the plane of the developing ring 304 (i.e., the base plane 502), and a three-dimensional rectangular coordinate system (x, y, z) 504 with the origin o is established based on the headrest plane 501.

[0260] A lesion plane 503 parallel to the developing ring 304 is mapped downward from the plane of the developing ring 304, so that the lesion target T is located in the lesion plane 503, and the coordinates and position relationship are as shown in Fig. 4. FIG. 21 The length of the straight line between the lesion target T and the origin o is calculated as r, the included angle between r and the z-axis is calculated as θ (corresponding to the swing angle θ), and the included angle between the To' connecting line in the lesion plane 503 and the x'-axis is calculated as φ' (corresponding to the rotation angle φ), as shown in Fig. 5.

[0261] FIG. 21 The lesion target T is mapped in the headrest plane 501 to obtain a point T', at this time, the angle φ' is equal to the corresponding angle φ in the headrest plane 501.

[0262] The image processing system of the three-dimensional space orientation system can simulate and reconstruct the coordinate position relationship of Fig. 6 according to the process of Fig. 7, for example.

[0263] In the three-dimensional rectangular coordinate system (x, y, z) 504 with the origin o established based on the headrest plane 501, the coordinates of the point s are (d / 2, 0, 0), the coordinates of the point s' are (d / 2, 0, h), the coordinates of the point o' are (0, h, 0), and the coordinates of the lesion target T are FIG. 22 The coordinates of the mapping point T' corresponding to the lesion target T are FIGS. 20-21 If a three-dimensional spherical polar coordinate system is established with the origin o, the polar coordinates of the lesion target T can be obtained as (r, θ, φ).

[0264] ​​​in accordance with FIG. 21 As shown, by adjusting the puncture depth of the puncture needle 100 and adjusting the rotation angle φ and swing angle θ of the head frame 200A, the lesion target point T can be accurately punctured.

[0265] The puncture depth L of the puncture needle 100 is the sum of the length (r) of the puncture path oT and the length r1 of the vertical axis 213, that is, L = r + r1.

[0266] like FIGS. 20-21 As shown, angle φ is the angle by which the headframe 200A rotates on the headframe plane 501, that is, the rotation angle is 216. FIG. 8 As shown.

[0267] like FIGS. 20-21 As shown, angle θ is the angle of swing of the T-shaped swing rod of the head frame 200A along its longitudinal axis 213, that is, the swing angle 218. FIG. 9 As shown.

[0268] Manual operation of three-dimensional spatial orientation system

[0269] FIG. 23 It is applicable to an embodiment of the present invention. FIG. 1 A schematic diagram illustrating the general aspects of manual operation of the three-dimensional spatial orientation system. The general content of this manual operation may include: performing a CT / MRI scan by wearing a base 200B on the patient's skull, reconstructing a three-dimensional image using an image processing system, and calculating the coordinate relationship between the lesion target point T and the base (and the head frame), thereby obtaining and providing angle data (θ and φ) and puncture depth data (L); determining the initial position of the head frame 200A using a calibration fixture, and then fixing it with locking screws before removing the head frame 200A; fixing the head frame 200A to the base 200B by matching the positioning hole 225 and the locking post 306, or by fixing it to the base 200B by, for example, screws; manually operating and adjusting the head frame 200A to achieve the target angle according to the corresponding angle data and puncture depth data; manually adjusting the locking buckle of the puncture needle 100 to the target position and locking it; installing and adjusting the puncture needle 100 and puncturing it through the puncture channel 207 to puncture the lesion target point T.

[0270] FIG. 24 It is applicable to an embodiment of the present invention. FIG. 1 The diagram illustrates the manual operation procedure for the three-dimensional spatial orientation system. An example of this manual operation procedure may include (the operations are not limited to the order described herein):

[0271] The 200B base bracket is locked (fixed) to the patient's skull using titanium screws;

[0272] The patient wears the base 200B to perform CT / MRI scanning;

[0273] The image processing system acquires images of the base 200B and the patient's lesion;

[0274] The image processing system three-dimensionally reconstructs and simulates the position of the head holder, and obtains the coordinate relationship between the lesion target point T and the base (and the head holder);

[0275] The path optimization calculation obtains corresponding angle (θ and φ) data and puncture depth (L) data;

[0276] The angle detection control circuit 209 of the head holder 200A receives the angle (θ and φ) data and puncture depth (L) data calculated by the image processing system through wireless communication;

[0277] The head holder 200A is in an initial position state (which can be set at the factory), or the initial position of the head holder 200A can be determined by using a calibration jig;

[0278] The head holder 200A is fixed to the base 200B by, for example, three clamping columns 306;

[0279] The sensor on the head holder 200A is calibrated by, for example, the image processing system (image processing software);

[0280] According to the angle data, the rotation locking screw 231A is loosened, the T-shaped swing lever of the head holder 200A is manually rotated to the target rotation angle φ, and the rotation locking screw 231A is tightened to prevent the plane rotation ring 202 from rotating;

[0281] According to the angle data, the swing locking screw 231B is loosened, the T-shaped swing lever 204 of the head holder 200A is manually rotated to the target swing angle θ, and the swing locking screw 231B is tightened to prevent the swing lever 204 from swinging;

[0282] According to the puncture depth data, the clamping buckle of the puncture needle 100 is manually adjusted to reach the target puncture depth and is locked; and

[0283] The puncture needle 100 is punctured through the puncture channel 207 of the T-shaped swing lever 204.

[0284] Automated operation of three-dimensional spatial orientation system

[0285] FIG. 25 According to an embodiment of the present application, a head holder can be used FIG. 1The general content of the automatic operation of the three-dimensional space orientation system is shown. The general content of the automatic operation can include: CT / MRI scanning by wearing the base 200B on the patient's brain, three-dimensional image reconstruction by using the image processing system, and calculation of the coordinate relationship between the lesion target T and the base (and the head frame), thereby obtaining and providing angle data (θ and φ) and puncture depth data (L); mounting the head frame 200A (which can not contain sensors and control circuits, for example) on the fixed support 420 of the angle console 400 through the positioning hole 225; using the angle console 400 to automatically calibrate the head frame 200A, and automatically adjusting to the target angle (θ and φ) and automatically fixing with the locking screw according to the corresponding angle data (θ and φ) and puncture depth data (L) after the automatic calibration; and automatically adjusting the clamping buckle on the puncture needle 100 to the target depth (L) and locking; dismounting the head frame 200A, fixing it on the base 200B through the positioning hole 225 and the clamping column 306, or fixing it on the base 200B through, for example, a screw; mounting the adjusted puncture needle 100 to perform puncture through the puncture path 207, so that the puncture needle 100 punctures to the lesion target T position.

[0286] FIG. 26 The three-dimensional space orientation system according to an embodiment of the present application can be used for FIG. 1 The schematic diagram of the system automatic implementation process of the three-dimensional space orientation system is shown.

[0287] An example of the process of the automatic implementation operation can include (the order of the operation is not limited by the description here):

[0288] Locking (fixing) the base 200B support on the patient's brain bone through a titanium screw;

[0289] Let the patient wear the base 200B to perform CT / MRI scanning;

[0290] The image processing system acquires images of the base 200B and the patient's lesion;

[0291] The image processing system three-dimensionally reconstructs and simulates the position of the head frame, and obtains the coordinate relationship between the lesion target T and the base (and the head frame);

[0292] The path optimization calculation obtains corresponding angle (θ and φ) data and puncture depth (L) data;

[0293] The control circuit 419 of the angle console 400 receives the angle (θ and φ) and puncture depth (L) data calculated by the image processing system;

[0294] Position the headstock 200A in its initial position (which can be set at the factory). Mount the headstock 200A on the fixed bracket 420 of the angle control console 400. Since the mechanical claw 413 of the headstock clamping mechanism 412 is tightly pressed against the horizontal axis 212 of the headstock 200A, the headstock 200A can be positioned in its initial position.

[0295] Click the calibration button on the operation display interface of the angle control console 400 to perform automatic calibration;

[0296] Based on the angle data, the angle control console 400 automatically adjusts the rotation angle φ of the T-shaped swing arm of the head frame 200A by driving the motor bracket 405 and the transmission mechanical arm 411 through the rotary motor assembly 401A, so that it reaches the target angle.

[0297] Lock the rotating part of the head frame 200A, which has been adjusted to the target angle, in place, for example by tightening the rotating locking screw 231A in the rotating locking hole 231 of the support frame 201 (for example, refer to the corresponding part above), so that the planar rotating ring 202 cannot rotate.

[0298] Based on the angle data, the angle control console 400 drives the transmission mechanical arm 411 through the swing motor assembly 406A to automatically adjust the swing angle θ of the T-shaped swing arm of the head frame 200A so that it reaches the target angle.

[0299] Lock the swinging part of the headstock 200A, which has been adjusted to the target angle, in place, for example, by tightening the swing locking screw 231B on the transverse bearing housing 211 (e.g. FIG. 6 As shown (refer to the corresponding section above), this prevents the swing arm from swinging.

[0300] Based on the puncture depth data, the angle control console 400 can automatically adjust the locking buckle of the puncture needle 100 to achieve the target puncture depth and automatically lock it with the locking screw.

[0301] Remove the headgear 200A, which has been adjusted to the target angle, and install it onto the base 200B, which is fixed to the patient's skull; and

[0302] Remove the puncture needle 100 after adjusting the puncture depth, and perform the puncture operation through the puncture channel 207 of the T-shaped swing rod 204.

[0303] One or more embodiments of the innovative three-dimensional spatial orientation system of the present invention provide numerous technical advantages over the prior art, including but not limited to the following:

[0304] 1) A small base can be fixed on the skull to establish the coordinate relationship between the lesion target and the base. Since the base as a reference is directly fixed on the skull, the relative position of the internal structure of the head frame and the base is fixed and determined, enabling the skilled person to more accurately determine the precise position between the head frame and the lesion target. This method can help doctors more accurately position and operate during surgery, improve the positioning accuracy of surgery, and ensure the safety and accuracy of surgery.

[0305] 2) The structure of the planar rotating ring and the swing rod of the head frame can be co-centered to determine the precise position in the plane. At the same time, combined with the length of the puncture needle, the effect of spatial precise positioning can be achieved.

[0306] 3) The separate design and detachable assembly of the head frame and the base can automatically and manually adjust the angle, facilitate operation, and do not need to install the entire or part of the head frame assembly on the patient in many steps and processes. In this way, the volume and weight of the brain implant part can be effectively reduced, making it more portable and reducing the burden on the patient.

[0307] 4) High-precision sensors can be installed on the swing rod of the head frame and / or the puncture needle to measure the swing angle. At the same time, algorithms such as six-face calibration algorithms can be used to improve measurement accuracy.

[0308] 5) A magnetic ring can be built-in in the planar rotating ring, and an off-axis magnetic coded angle sensor can be installed at the tangent position to measure the relative angle of rotation. Software calibration algorithms can be used to process the measurement data to achieve more accurate angle measurement and improve the performance and stability of the three-dimensional spatial orientation system.

[0309] 6) Biocompatible screws can be made of titanium screws, which are a material with good biocompatibility and strength, and can be stably fixed in the patient's body tissue. The visible ring can be a metal ring embedded in the ring-shaped body. Moreover, the visible ring can also be a ring-shaped marker provided by a contrast agent or a ring coated with a contrast agent, which can produce a clear mark in, for example, a scanned image, helping to accurately locate and identify the target area. By combining the use of titanium screws and visible rings, CT / MRI images can provide clearer and more accurate information to reduce reference coordinate system errors.

[0310] 7) The angle control console can automatically adjust the puncture angle and / or depth, thereby effectively improving the accuracy, repeatability, and convenience of the surgery. The use of the angle control console to automatically adjust the puncture angle and the use of a small and high-precision angle sensor configuration to measure the angle further simplify the system configuration and operation process, further improve the positioning accuracy, and reduce the learning time of the doctor using the device.

[0311] 8) can be driven by a drive motor in the form of, for example, a stepper motor, and a high-precision encoder can be provided at the end of the reduction gear, so that the beneficial effect of more precise angle control can be achieved.

[0312] The foregoing description of several embodiments of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise steps and / or forms disclosed, and various modifications and variations are possible in light of the above teachings or can be acquired from practice of the application. The scope and / or spirit of the application is intended to be limited only by the claims appended hereto and equivalents thereof.

Claims

1. A method for automatically adjusting the spatial orientation of a three-dimensional spatial orientation system, the method comprising the steps of: S1: having a patient wear a base for CT / MRI scanning, the base being used to fix to the skull of the patient; S2: an image processing system of the three-dimensional spatial orientation system acquires and processes images of the base and the lesion of the patient; S3: the image processing system three-dimensionally reconstructs and simulates a head holder of the three-dimensional spatial orientation system, and obtains the coordinate relationship between a target point T of the lesion and the base and the head holder; S4: path optimization calculation obtains the swing angle θ and rotation angle φ of a swing rod of the head holder and the penetration depth L data; S5: an angle console of the three-dimensional spatial orientation system receives the swing angle θ and rotation angle φ and penetration depth L data; S6: the head holder is fixed to the angle console, and position zeroing is automatically completed; S7: the angle console automatically adjusts the swing angle θ and rotation angle φ of the swing rod according to the swing angle θ and rotation angle φ data, so as to reach the target angle; S8: the angle console automatically adjusts the clamping buckle of a penetrating needle inserted into a penetrating channel of the swing rod according to the penetration depth L data, so as to reach the target penetration depth; and S9: the head holder automatically adjusted to the target angle and the penetrating needle of the target penetration depth are removed, and the head holder is installed on the base.

2. The method of claim 1, wherein, Before the step S7, the head holder is in an initial position state.

3. The method of claim 1, wherein, Before the step S7, the head holder is automatically calibrated by the angle console.

4. The method of claim 1, wherein, In the step S7, the position of the swing rod is locked after reaching the target angle.

5. The method of claim 1, wherein, In the step S5, the head holder receives the swing angle θ and rotation angle φ and penetration depth L data through the control circuit (419) of the angle console.

6. The method of claim 4, wherein, Locking the position of the swing rod is performed by tightening the rotation locking screw and the swing locking screw of the head holder.

7. The method according to any of the preceding claims, characterized in that, The method is applied to at least one of the following: brain surgery; preoperative simulation; preoperative training; medical explanation; medical demonstration; medical teaching; medical training; and medical research and development.

Images