Wound orthopedic surgery system

Abstract

The invention provides a traumatic orthopedic surgery system. The traumatic orthopedic surgery system comprises a main control unit, an execution device and scanning equipment, wherein the execution device and the scanning equipment are coupled with the main control unit; the main control unit comprises an operating device which is used for remotely controlling the execution device; the execution device carries a tail end operation tool and drives the tail end operation tool to move based on the control of the control device; the scanning device is used for scanning the tail end surgical tool in real time and sending a scanning image to the main control unit.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a trauma orthopedic surgery system. Background Art

[0002] Optical tracking is often used in existing surgical robots to determine the spatial position of surgical tools during movement. The optical tracking method refers to installing an array mechanism on the surgical robot or surgical tool and using a light source tracking system to track the reflective balls of the array mechanism in real time.

[0003] Determining the spatial position of surgical tools through optical tracking has restricted the promotion and universality of trauma orthopedic surgical systems. Due to the complex layout of surgical site facilities and personnel activities, the path between the light source tracking system and the array mechanism is easily blocked, which will cause navigation failure of surgical tools.

[0004] Given that optical tracking methods have high requirements for the personnel and facility layout at the surgical site, existing trauma orthopedic surgical systems can only be applied to some surgical operations, with limited clinical application scenarios. The threshold for implementing master-slave controlled orthopedic surgery is too high, and a large number of patients cannot obtain efficient medical services. Summary of the invention

[0005] In view of this, the present invention provides a trauma orthopedic surgery system that can track the position and posture of surgical tools in real time and stably so that doctors can learn the working status of surgical tools in real time.

[0006] The present invention provides a trauma orthopedic surgery system, comprising a main control unit, an execution device coupled to the main control unit, and a scanning device;

[0007] The main control unit includes a control device, which is used to remotely control the execution device;

[0008] The execution device is equipped with a terminal surgical tool, and drives the terminal surgical tool to move based on the control of the manipulation device;

[0009] The scanning device is used to scan the end surgical tool in real time and send the scanned image to the main control unit.

[0010] The trauma orthopedic surgery system of the present invention controls the position of the terminal surgical tool in a master-slave control mode, and scans the terminal surgical tool with the help of a scanning device, thereby realizing the visualization of trauma orthopedic surgery. Doctors can view the terminal surgical tool in real time, and there is no need for optical navigation equipment to track the surgical tool. The requirements of the trauma orthopedic surgery system for the facility layout and personnel flow at the surgical site are reduced, thereby lowering the threshold for orthopedic surgery and expanding the clinical application scenarios of the trauma orthopedic surgery system.

[0011] In one embodiment, the main control unit further includes an image display device, which is communicatively connected to the scanning device and is used to display the status of the terminal surgical tool in real time.

[0012] With this arrangement, the image display device can remotely transmit images taken at the operating scene to the doctor, and the position information of the surgical tools relative to the patient's lesions can be intuitively presented, making it easier for the doctor to perform remote surgery on patients in other locations, further expanding the use scenarios of the trauma orthopedic surgery system.

[0013] In one embodiment, the operating device includes a displacement mechanism, a posture changing mechanism, and a manual operating member connecting the displacement mechanism and the posture changing mechanism; the displacement mechanism and the posture changing mechanism are used to obtain motion information of the manual operating member, and then obtain control information of the operating device.

[0014] In one embodiment, the execution device includes a slave base, a robotic arm mounted on the slave base, and a distal surgical tool mounted on the robotic arm.

[0015] In one embodiment, the main control unit obtains the current real-time posture of the end surgical tool according to the scanning device, and controls the end surgical tool to reach the target posture through the operating device.

[0016] In one embodiment, the actuator further includes a force sensor connected to the end surgical tool, and the force sensor is used to obtain feedback force exerted on the end surgical tool.

[0017] In one embodiment, the manipulation device further includes a force feedback device connected to the manual manipulation member, and the force sensor is coupled to the force feedback device to feed back the feedback force received by the end surgical tool to the manual manipulation member.

[0018] The combination of force sensors and force feedback devices can make it easier for doctors to master the use of trauma orthopedic surgery systems. The manual operating parts will feed back the feedback force to the doctors so that the doctors can adjust the manual input operations in time.

[0019] In one embodiment, the scanning device is a C-arm X-ray machine.

[0020] With this arrangement, the scanning channel of the C-arm X-ray machine is short, making it easy to place the patient's body and surgical tools into the scanning channel of the C-arm X-ray machine at the same time, and the open end of the C-arm allows the actuator to carry the surgical tools through the opening, providing convenience for the position change of the surgical tools.

[0021] In one embodiment, the main control unit and the execution device are remotely connected in communication.

[0022] With this arrangement, doctors can operate the device to remotely control the execution device to navigate surgical tools, thereby performing surgery on patients in remote locations.

[0023] The present invention also provides a trauma orthopedic surgery system, comprising a main control unit, a manipulation device coupled to the main control unit, an execution device, a scanning device, and a terminal surgical tool disposed on the execution device;

[0024] The main control unit establishes a master-slave mapping relationship between the operating device and the execution device;

[0025] The scanning device scans the terminal surgical tool in real time and sends the scanned image to the main control unit;

[0026] The main control unit determines the target shape of the actuator according to the real-time posture and target posture of the end surgical tool;

[0027] The main control unit calculates the motion information of the manipulator according to the target form of the actuator and the master-slave mapping relationship between the manipulator and the actuator;

[0028] The manipulator controls the actuator to move to the target shape according to the motion information.

[0029] The trauma orthopedic surgery system of the present invention realizes remote visualized master-slave controlled orthopedic surgery. Whether it is remote control surgery for the purpose of preventing ionizing radiation or remote surgery for patients in remote areas, the main control unit can present the real-time status of the terminal surgical tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a control device according to an embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of an execution device according to an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 10. Manipulator; 11. Main end base; 12. Displacement mechanism; 13. Posture changing mechanism; 14. Manual operating part; 20. Execution device; 21. Slave end base; 22. Robotic arm; 23. Instrument carrier; 30. End surgical tool; 40. Scanning device; 60. Surgical field camera. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0036] The present invention provides a traumatic orthopedic surgery system, which can be equipped with different types of terminal surgical tools to perform different surgeries. Therefore, the functions of the traumatic orthopedic surgery system of the present invention vary with the terminal surgical tools it carries.

[0037] In the following embodiments, the traumatic orthopedic surgery system is applied to traumatic orthopedic surgery. According to the clinical application of the traumatic orthopedic surgery system in orthopedic surgery, the end surgical tool 30 that the actuator 20 can carry includes a Kirschner wire and a bone grinding tool. The Kirschner wire can be implanted into the bone to temporarily fix the broken bone, and the bone grinding tool can grind the fracture surface of the bone to remove the burrs on the fracture surface.

[0038] Embodiment 1

[0039] The trauma orthopedic surgery system of this embodiment includes a main control unit, a scanning device 40, and an execution device 20 coupled to the main control unit, and the main control unit includes a manipulation device 10. When performing surgery using the trauma orthopedic surgery system, the manipulation device 10 can be placed in an independent surgical operation room and is set separately from the execution device 20, and the execution device 20 and the scanning device 40 can be placed together in the surgical ward where the patient is located.

[0040] The scanning device 40 is used to scan the terminal surgical tool 30 in real time, and can send the scanned image of the terminal surgical tool 30 to the main control unit to realize the visualization of traumatic orthopedic surgery; the manipulator 10 is used to remotely control the actuator 20, and the actuator 20 is equipped with the terminal surgical tool 30; when the actuator 20 is equipped with the terminal surgical tool 30, the main control unit remotely controls the actuator 20 through the manipulator 10 to drive the terminal surgical tool 30 to move, so that the terminal surgical tool 30 reaches the target posture.

[0041] The scanning device 40 can generate high-frequency transmission rays, such as X-rays, and has a scanning channel that allows the end surgical tool 30 to be placed therein. The scanning device 40 obtains a real-time scanning image of the end surgical tool 30 by scanning and perspective viewing the end surgical tool 30 .

[0042] During the operation, the scanning device 40 simultaneously scans the terminal surgical tool 30 and the patient's body to generate real-time medical images of the patient's lesions and surgical tools. The real-time status of the terminal surgical tool 30 is sent to the main control unit in the form of images. The images can provide feedback on the progress of the surgical operation and present the operating conditions of the surgical tools on the patient's lesion area, providing a basis for subsequent surgical actions.

[0043] The scanning device 40 is provided to realize the visualization of traumatic orthopedic surgery. Even if the doctor and the patient are in different environments, the doctor can still view the terminal surgical tool 30 in real time through the main control unit. Therefore, the traumatic orthopedic surgery system of the present invention does not need to track and navigate the terminal surgical tool 30 through an optical navigation device, thereby reducing the requirements of the traumatic orthopedic surgery system for the layout of surgical site facilities and the flow of personnel.

[0044] Optionally, the scanning device 40 is a C-arm X-ray machine, which is simple and lightweight and has a shorter scanning channel, making it convenient for the patient and surgical tools to be placed therein together. The open end of the C-arm allows the actuator 20 to carry the end surgical tool 30 through the opening into the scanning channel to approach the patient's body, or exit the scanning channel to move away from the patient's body. It also allows the actuator 20 to move in the C-arm opening of the C-arm X-ray machine to facilitate the change of position of the end surgical tool 30.

[0045] In the case that some bone trauma patients cannot be scanned by CT scanner, C-arm X-ray machine can scan and see through the patient, so the use of C-arm X-ray machine further expands the clinical application scenario of trauma orthopedic surgery system. In other embodiments, the scanning device 40 can also use CT scanner.

[0046] Furthermore, the main control unit also includes an image display device, which is communicatively connected to the scanning device 40 and is used to receive and display the medical images captured by the scanning device 40 in real time. The medical images present the real-time status of the terminal surgical tool 30 and also present the real-time status of the patient's lesion area, making it convenient for doctors to perform remote control surgery on patients in other places.

[0047] Further, see Figure 1 The operating device 10 includes a main end base 11, a displacement mechanism 12 connected to the main end base 11, a posture changing mechanism 13 connected to the main end base 11, and a manual operating member 14 connecting the displacement mechanism 12 and the posture changing mechanism 13.

[0048] During the use of the trauma orthopedic surgery system, the main end base 11 is fixedly arranged at the surgery site where the doctor is located, and the doctor manipulates the manual operating member 14 to change the posture and position of the manual operating member 14 relative to the main end base 11 .

[0049] The displacement mechanism 12 obtains position change information of the manual operating member 14 , and the posture change mechanism 13 obtains posture change information of the manual operating member 14 , thereby obtaining control information of the operating device 10 .

[0050] Further, see Figure 2 The execution device 20 includes a slave base 21, a robotic arm 22 mounted on the slave base 21, an instrument carrier 23 mounted on the robotic arm 22, and a terminal surgical tool 30 mounted on the instrument carrier 23. The position of the instrument carrier 23 is the TCP point of the robotic arm 22.

[0051] During the use of the trauma orthopedic surgery system, the end base 21 is fixed in the operating room where the patient is located, and the robotic arm 22 is responsible for driving the instrument carrier 23 and the terminal surgical tool 30 to move until the shape of the robotic arm 22 is converted into the target shape, so that the instrument carrier 23 changes its posture and position as expected by the doctor.

[0052] With the trauma orthopedic surgery system, doctors can perform surgery on patients in other places other than where the patients are located. For example, when the scanning device 40 is required to scan the patient during the operation, the scanning device 40 will generate ionizing radiation in the patient's ward. At this time, in order to protect the doctor's health, the doctor can operate the operating device 10 in an independent operating room, and the execution device 20 is placed in the patient's ward. The operating room and the patient's ward are shielded to block ionizing radiation.

[0053] The main control unit can convert the doctor's actions on the operating device 10 into the target form of the executing device 20; the executing device 20 is used to carry the terminal surgical tool 30, and can move and navigate the terminal surgical tool 30 under the control of the main control unit, and finally the executing device 20 switches to the target form; the posture and position of the terminal surgical tool 30 are switched to the result expected by the doctor as the target form is achieved, and the posture and position of the terminal surgical tool 30 that meets the expectations are called the target posture of the terminal surgical tool 30.

[0054] Embodiment 2

[0055] On the basis of the first embodiment, the trauma orthopedic surgery system of this embodiment is a master-slave control system. When the doctor continuously manipulates the manipulation device 10 to make it undergo a series of shape changes, the main control unit can continuously control the execution device 20 to perform a series of activities, so that the posture and position of the end surgical tool 30 continuously change with the doctor's hand movements.

[0056] The main control unit establishes a master-slave mapping relationship between the operating device 10 and the execution device 20. The master-slave mapping relationship includes:

[0057] The scanning device 40 scans the end surgical tool 30 in real time, and sends the real-time scanned image of the end surgical tool 30 to the main control unit;

[0058] The main control unit determines the target shape of the actuator 20 according to the real-time posture and target posture of the end surgical tool 30;

[0059] The main control unit calculates the motion information of the manipulator 10 according to the target form of the actuator 20 and the master-slave mapping relationship between the manipulator 10 and the actuator 20;

[0060] The manipulator 10 controls the movement of the actuator 20 according to the movement information so that the actuator reaches the target shape.

[0061] The target shape is the shape that the actuator 20 is expected to achieve. The action information of the operating device 10 includes the posture change information of the manual operating member 14 relative to the main end base 11. The position change information ΔP of the manual operating member 14 relative to the main end base 11 M .

[0062] Optionally, the real-time posture of the end surgical tool 30 is calculated by a sensor arranged on the actuator 20 according to the real-time shape of the actuator 20 .

[0063] Establish a main terminal coordinate system MF about the manual operating member 14 and a main terminal world coordinate system MBF about the main terminal base 11. That is, the rotation matrix of the main terminal coordinate system MF relative to the main terminal world coordinate system MBF, ΔP M It represents the spatial position change of the manual operating member 14 relative to the main end base 11, that is, the position change vector of the origin of the main terminal coordinate system MF in the main end world coordinate system MBF.

[0064] The target shape of the actuator 20 is the target shape of the robot arm 22. Specifically, the robot arm 22 in the present invention is a multi-axis robot arm with a TCP point, and the TCP point is the end where the instrument carrier 23 is located. The posture and position of the TCP point are essentially the posture and position of the instrument carrier 23.

[0065] The displacement mechanism 12 has multiple perpendicular translational degrees of freedom to adapt to the position change of the manual operating part 14, and the posture change mechanism 13 has multiple perpendicular rotational degrees of freedom to adapt to the posture change of the manual operating part 14; the robotic arm 22 is capable of complex spatial activities, so the TCP point has multiple perpendicular translational degrees of freedom and multiple perpendicular rotational degrees of freedom, so as to fully meet the needs of posture change and position change of the instrument carrier 23, ensuring that the end surgical tool 30 can produce activities with multiple degrees of freedom.

[0066] The trauma orthopedic surgery system of the present invention determines the target shape of the robotic arm 22 in the following manner:

[0067] After obtaining the posture change information of the manual operating member 14 relative to the main end base 11 After that, the main control unit is based on formula (1) Obtain the target attitude information of the TCP point relative to the slave base 21 in is the attitude conversion matrix of the slave end base 21 relative to the master end base 11, Establishing the inverse matrix of the instrument carrier 23 from the terminal coordinate system SF, establishing the slave world coordinate system SBF from the slave end base 21, That is, it represents the rotation matrix of the slave terminal coordinate system SF relative to the slave terminal world coordinate system SBF;

[0068] After obtaining the position change information ΔP of the manual operating member 14 relative to the main end base 11 M After that, the main control unit uses formula (2) Obtain the target position information of the TCP point relative to the slave base 21 Where k is the master-slave displacement scaling factor, indicating that the ratio between the displacement stroke of the manual operating member 14 and the displacement stroke of the TCP point is k. ΔP S It represents the spatial position change of the instrument carrier 23 relative to the slave base 21, that is, the position change vector of the origin of the slave coordinate system SF in the slave world coordinate system SBF.

[0069] Through equations (1) and (2), the trauma orthopedic surgery system determines the posture and position of the TCP point of the robot arm 22 in the target form. Since the shape and size of each arm segment in the robot arm 22, the distance between the rotating joints and other structural parameters are all known conditions, the main control unit can The target shape of the robot arm 22 is obtained by inversely solving the structural parameters of the robot arm, and the target shape result of the robot arm 22 is the angle between the robot arms.

[0070] After completing the inverse solution, the main control unit compares the current shape and the target shape of the robotic arm 22, and calculates the motion information of the operating device 10 according to the structural parameters of the robotic arm 22. The doctor controls the manual operating part 14 according to the calculated motion information. When the operating device completes the activity according to the motion information, the execution device 20 switches to the target shape accordingly.

[0071] Therefore, the trauma orthopedic surgery system establishes a master-slave posture mapping relationship between the manual operating component 14 and the TCP point, that is, any posture change of the manual operating component 14 uniquely corresponds to a posture change of a TCP point, where the posture change of the manual operating component 14 is relative to the master-end base 11, and the posture change of the TCP point is relative to the slave-end base 21.

[0072] Based on the master-end-slave-end posture mapping relationship, the trauma orthopedic surgery system establishes a displacement mapping relationship between the manual operating part 14 and the TCP point, that is, any position change of the manual operating part 14 uniquely corresponds to a position change of a TCP point. The position change of the manual operating part 14 here is relative to the master-end base 11, and the position change of the TCP point is relative to the slave-end base 21.

[0073] In order to improve the tolerance of the trauma orthopedic surgery system to the doctor's manual manipulation, improve the motion accuracy of the end surgical tool 30, and reduce surgical errors, k>1, and the larger k is, the higher the displacement accuracy of the end surgical tool 30. For example, assuming k=4, and the doctor only manipulates the manual manipulation member 14 to translate 20mm relative to the main end base 11, the effect produced by the change of the shape of the mechanical arm 22 is that the instrument carrier 23 and the end surgical tool 30 translate 5mm relative to the slave end base 21.

[0074] Of course, the sensor for determining the real-time posture of the end surgical tool 30 can also be set in the manipulator 10. The sensor is based on the real-time shape of the manipulator 10 and formula (1): Formula (2) The real-time position and posture of the end surgical tool 30 is calculated.

[0075] In some embodiments, the master end base 11 and the slave end base 21 are relatively fixedly arranged. For a given rotation matrix, it means that in the process of using the trauma orthopedic surgery system, will not change. You can always follow the given The position of the manual operating part 14 is changed to the position of the instrument carrier 23 .

[0076] It can be understood that the coordinate axis directions of the master world coordinate system MBF and the slave world coordinate system SBF can be set to be one-to-one correspondence, that is, the X axis of the master world coordinate system MBF and the X axis of the slave world coordinate system SBF are in the same direction, the Y axis of the master world coordinate system MBF and the Y axis of the slave world coordinate system SBF are in the same direction, and the Z axis of the master world coordinate system MBF and the Z axis of the slave world coordinate system SBF are in the same direction. is an identity matrix.

[0077] In some embodiments, the displacement mechanism 12 has three mutually perpendicular translation degrees of freedom, and the posture change mechanism 13 has three mutually perpendicular rotation degrees of freedom; the TCP point has three mutually perpendicular translation degrees of freedom, and also has three mutually perpendicular rotation degrees of freedom. The two translation degrees of freedom being mutually perpendicular means that the object can be translated along the vectors forming the two translation degrees of freedom, and the two vectors are mutually perpendicular; the rotation degrees of freedom being mutually perpendicular means that the object can be rotated around the axes forming the two rotation degrees of freedom, and the two axes are mutually perpendicular.

[0078] With such arrangement, the trauma orthopedic surgery system of the present invention realizes simultaneous control of the posture and position of the terminal surgical tool 30. The doctor can control the manual operating component 14 to move in six spatial degrees of freedom, and correspondingly the robotic arm 22 can navigate the terminal surgical tool 30 in six spatial degrees of freedom. The flexibility and convenience of surgical operation are improved, and the posture changes of the manual operating component 14 caused by the doctor's manual operation can be converted into posture changes of the terminal surgical tool 30 that meet the doctor's wishes, thereby enabling the trauma orthopedic surgery system to be competent for more complex surgical tasks.

[0079] In some embodiments, the instrument carrier 23 carries different types and functions of end surgical tools 30 in a detachable manner. As mentioned above, the end surgical tool 30 can be a Kirschner wire or a bone grinding tool. After the instrument carrier 23 carries the Kirschner wire, the trauma orthopedic surgery system can be used to implant the Kirschner wire into the bone. Compared with the traditional trauma orthopedic surgery where the doctor manually inserts the Kirschner wire, the use of the trauma orthopedic surgery system of the present invention to implant the Kirschner wire has the following advantages:

[0080] 1) The Kirschner wire can be stably implanted in the bone, and the robotic arm 22 can reduce the slippage or deflection of the Kirschner wire relative to the bone by replacing the human body to carry the Kirschner wire, which is conducive to reducing the pinhole formed on the bone;

[0081] 2) The posture and position of the Kirschner wire implanted into the bone are more accurate. The robotic arm 22 replaces humans to complete the Kirschner wire implantation, which can reduce the implantation posture error and implantation depth error caused by human arm trembling;

[0082] 3) The success rate of a single implantation of a Kirschner wire is higher. When the target shape of the mechanical arm 22 is determined, the posture and position of the instrument carrier 23 are strictly determined, and the Kirschner wire can be implanted at one time, avoiding the formation of multiple wounds on the bone due to multiple attempts to implant when the doctor personally operates, which is beneficial to the patient's recovery;

[0083] 4) The trauma orthopedic surgery system is a master-slave control system, which allows the manipulator 10 and the actuator 20 to be respectively arranged in a mutually isolated surgical operation room and a patient ward, thereby reducing the ionizing radiation of the scanning device 40 to the doctor;

[0084] 5) The trauma orthopedic surgery system is a master-slave control system, which allows the operating device 10 and the execution device 20 to be respectively set in the operating room and the patient ward located in different regions, so that doctors can provide remote surgery services to patients in other places to meet the needs of people in areas with backward medical services.

[0085] Optionally, the instrument carrier 23 carries the bone grinding tool in a detachable manner, and can drive the bone grinding tool to rotate around a fixed axis to grind and remove burrs from the bone fracture surface. To this end, in some embodiments, the instrument carrier 23 includes an instrument carrying part and an instrument driving source, the instrument carrying part is rotatably arranged relative to the TCP point, and the rotation center between the two is fixedly arranged relative to the TCP point, and the rotation center forms the rotation axis of the bone grinding tool, and the instrument driving source is connected to the instrument carrying part, and is used to drive the instrument carrying part and the terminal surgical tool 30 to rotate around the rotation axis.

[0086] It is understandable that in other embodiments, the instrument carrier 23 may also carry other types of end surgical tools 30, such as a bone drill for drilling holes in bones.

[0087] In some embodiments, the actuator 20 further includes a force sensor connected to the instrument carrier 23, such as Figure 2 As shown, the manipulation device 10 also includes a force feedback device connected to the displacement mechanism 12 and the posture change mechanism 13, and the force sensor and the force feedback device are coupled and connected. The force sensor and the force feedback device can simulate the touch feeling of the doctor when performing surgery on site.

[0088] During the operation, the force of the bones or other human tissues reacting on the terminal surgical tool 30 is transmitted to the instrument carrier 23 through the terminal surgical tool 30 and sensed by the force sensor. The force sensor converts the mechanical signal into an electrical signal. Then the force feedback device receives the electrical signal formed by the force sensor and converts the electrical signal back into a force signal to act on the displacement mechanism 12 and the posture change mechanism 13, so that the doctor knows the actual effect of the current terminal surgical tool 30 on the patient. The doctor can adjust and plan subsequent control actions according to the feedback force transmitted to the manual operating part 14 by the displacement mechanism 12 and the posture change mechanism 13.

[0089] See also Figure 1In some embodiments, the manual operating member 14, the posture changing mechanism 13, the displacement mechanism 12 and the main end base 11 are arranged in series in sequence, and the posture changing mechanism 13 is connected to the area of ​​the displacement mechanism 12 that is relatively far away from the main end base 11. With this arrangement, the doctor can operate the manual operating member 14 with a smaller movement amplitude during the operation, which is beneficial to reducing the doctor's operating fatigue and makes the doctor's manual operating movements closer to the movements during the on-site operation, which is convenient for the doctor to quickly accept the trauma orthopedic surgery system and reduce the unfamiliarity during operation.

[0090] In some embodiments, the main control unit is configured to be coupled to different actuators 20. For example, the manipulator 10 is fixedly installed in a certain surgical operation room, and the main control unit is configured to record the posture of the main end base 11 and couple different actuators 20, and the main control unit can determine different postures of different actuators 20 relative to the main end base 11.

[0091] With such an arrangement, the main control unit can be coupled to a plurality of execution devices 20 located at different sites in succession, so that the doctor can operate one operating device 10 to perform surgery on a plurality of patients located at different sites.

[0092] In some embodiments, the main control unit can also be coupled to multiple operating devices 10 located at different sites, and use multiple operating devices 10 located at different sites to control the activities of an execution device 20, so that the patient can receive surgery from multiple doctors located at different sites, further expanding the usage scenarios.

[0093] In some embodiments, the main control unit and the execution device 20 are remotely communicated with each other, and the remote communication connection may be a 5G communication connection.

[0094] With such arrangement, doctors can remotely control the execution device 20 through the operating device 10 to navigate the terminal surgical tool 30, thereby allowing doctors to perform surgery on patients in remote areas, and more patients can receive high-end medical services.

[0095] See also Figure 2 The trauma orthopedic surgery system also includes a cart for carrying the robotic arm 22, and the end base 21 is arranged on the cart. The setting of the cart improves the convenience of transferring the actuator 20 to different patient wards.

[0096] See also Figure 2 The trauma orthopedic surgery system also includes an operation field camera 60 installed on the cart or the execution device 20. The operation field camera 60 can provide the doctor with a picture of the patient undergoing surgery, which can be used as information to assist the doctor in judging the operation situation and making decisions and planning manipulation actions.

[0097] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection claimed by the present invention.

Claims

1. A trauma orthopedic surgery system, characterized in that: It comprises a main control unit, an execution device (20) coupled to the main control unit, and a scanning device (40); The main control unit comprises a control device (10), and the control device (10) is used for remotely controlling the execution device (20); The execution device (20) is equipped with a terminal surgical tool (30), and drives the terminal surgical tool (30) to move based on the control of the manipulation device (10); The scanning device (40) is used to scan the terminal surgical tool (30) in real time and send the scanned image to the main control unit.

2. The trauma orthopedic surgery system according to claim 1, characterized in that: The main control unit also includes an image display device, which is communicatively connected to the scanning device (40) and is used to display the status of the terminal surgical tool (30) in real time.

3. The trauma orthopedic surgery system according to claim 1, characterized in that: The operating device (10) comprises a displacement mechanism (12), a posture changing mechanism (13), and a manual operating member (14) connecting the displacement mechanism (12) and the posture changing mechanism (13); The displacement mechanism (12) and the posture change mechanism (13) are used to obtain movement information of the manual operating member (14), and further obtain control information of the operating device (10).

4. The trauma orthopedic surgery system according to claim 1, characterized in that: The execution device (20) comprises a slave end base (21), a mechanical arm (22) mounted on the slave end base (21), and a terminal surgical tool (30) mounted on the mechanical arm (22).

5. The trauma orthopedic surgery system according to any one of claims 1 to 4, characterized in that: The main control unit acquires the real-time position and posture of the terminal surgical tool (30) based on the scanning device (40), and controls the terminal surgical tool (30) to reach a target position and posture through the operating device (10).

6. The trauma orthopedic surgery system according to claim 3, characterized in that: The execution device (20) further comprises a force sensor connected to the terminal surgical tool (30), wherein the force sensor is used to obtain the feedback force exerted on the terminal surgical tool (30).

7. The trauma orthopedic surgery system according to claim 6, characterized in that: The manipulation device (10) further comprises a force feedback device connected to the manual manipulation member, and the force sensor is coupled to the force feedback device and is used to feed back the feedback force received by the end surgical tool (30) to the manual manipulation member.

8. The trauma orthopedic surgery system according to claim 1, characterized in that: The scanning device (40) is a C-arm X-ray machine.

9. The trauma orthopedic surgery system according to claim 1, characterized in that: The main control unit is remotely connected to the execution device (20).

10. A trauma orthopedic surgery system, characterized in that: It comprises a main control unit, a manipulator (10) coupled to the main control unit, an execution device (20), a scanning device (40), and also comprises a terminal surgical tool (30) arranged on the execution device (20); The main control unit establishes a master-slave mapping relationship between the operating device (10) and the execution device (20); The scanning device (40) scans the terminal surgical tool (30) in real time and sends the scanned image to the main control unit; The main control unit determines the target shape of the execution device (20) according to the real-time posture and target posture of the terminal surgical tool (30); The main control unit calculates the motion information of the manipulating device (10) according to the target form of the actuating device (20) and the master-slave mapping relationship between the manipulating device (10) and the actuating device (20); The manipulator (10) controls the actuator (20) to move to the target shape according to the motion information.

Images