Intelligent decompression surgical navigation equipment for lumbar spinal stenosis

Abstract

The invention relates to the field of intelligent surgical assistance, in particular to intelligent decompression surgical navigation equipment for lumbar spinal stenosis, which comprises an equipment main body, a central control unit and a power supply unit, and further comprises an execution unit, the execution unit comprises a mechanical arm, a real-time image calibration assembly and an electromagnetic anti-interference positioning assembly, the mechanical arm, the real-time image calibration assembly and the electromagnetic anti-interference positioning assembly are all in signal connection with the central control unit; the mechanical arm is provided with an image acquisition module, and the image acquisition module is in data communication with the real-time image calibration assembly; the mechanical arm is further provided with a surgical instrument connector, and a pressure sensing module is arranged in the surgical instrument connector. The electromagnetic anti-interference positioning assembly comprises a positioning base station and a positioning target, the positioning base station is fixed to the top of the equipment body, and the positioning target is pasted to the surface of the lumbar spinous process of the patient and the tail end of the surgical instrument. According to the invention, operation automation, high-precision positioning and safety improvement are realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent surgical assistance, specifically to an intelligent decompression surgical navigation device for lumbar spinal stenosis. Background Technology

[0002] Lumbar spinal stenosis is a common degenerative disease of the spine, mainly manifested as nerve compression symptoms caused by narrowing of the lumbar spinal canal or nerve root canal, such as low back pain, radiating pain in the lower limbs, and intermittent claudication, which seriously affects the patient's quality of life.

[0003] Currently, surgical treatment is an effective means of relieving the symptoms of severe lumbar spinal stenosis, with decompression surgery being the core component. However, traditional surgical methods rely on the surgeon's experience and manual operation, resulting in problems such as low surgical precision, significant trauma, and slow recovery. With the development of medical imaging technology, robotics, and navigation technology, intelligent surgical navigation equipment is gradually being applied in the field of spinal surgery, aiming to improve surgical precision, reduce complications, and accelerate patient recovery.

[0004] While existing surgical navigation equipment for lumbar spinal stenosis can provide some positioning assistance, it still has the following technical limitations:

[0005] Insufficient automation control: The equipment can only provide basic positioning references. Core surgical operations (such as laminectomy and dural sac protection) rely entirely on manual operation by doctors. The lack of automated execution mechanisms based on real-time image data leads to low surgical efficiency and poor operational consistency.

[0006] Poor positioning accuracy and stability: Minor changes in the patient's position during surgery (such as lumbar spine displacement caused by breathing) or electromagnetic interference in the operating room (high-frequency electrosurgical unit, C-arm machine) can cause the positioning reference to shift, and existing equipment cannot dynamically correct the deviation.

[0007] Functional and visual coordination deficiencies: Navigation cameras are mostly mounted on fixed brackets, which can be easily blocked by medical staff, causing signal interruption; and the equipment only has static positioning function and lacks tissue recognition and dynamic monitoring capabilities, requiring doctors to frequently switch between observing images and surgical areas, increasing the complexity of operation.

[0008] To address the aforementioned issues, this invention proposes an intelligent decompression surgical navigation device for lumbar spinal stenosis, achieving surgical automation, high-precision positioning, and enhanced safety. Summary of the Invention

[0009] To address the aforementioned issues, this invention provides an intelligent decompression surgical navigation device for lumbar spinal stenosis. This device integrates a robotic arm, a real-time image calibration component, and an electromagnetic interference-resistant positioning component to construct an integrated intelligent surgical navigation system encompassing "positioning, operation, and protection." This effectively improves surgical positioning accuracy, reduces the risk of nerve tissue injury, simplifies the operational process, and increases surgical efficiency, meeting the clinical needs for precise surgical treatment of lumbar spinal stenosis.

[0010] To achieve the above objectives, the technical solution of the present invention is as follows: an intelligent decompression surgical navigation device for lumbar spinal stenosis, comprising a device body, a central control unit and a power supply unit, and further comprising an execution unit for realizing surgical positioning and instrument operation, the execution unit comprising a robotic arm, a real-time image calibration component and an electromagnetic anti-interference positioning component, wherein the robotic arm, the real-time image calibration component and the electromagnetic anti-interference positioning component are all signal connected to the central control unit;

[0011] One end of the robotic arm is fixedly connected to the main body of the equipment. The end of the robotic arm away from the main body of the equipment is equipped with an image acquisition module for real-time image information acquisition. The image acquisition module communicates with the real-time image calibration component. The free end of the robotic arm is also equipped with a surgical instrument interface. The surgical instrument interface has a built-in pressure sensing module, which is used to monitor the contact pressure between the surgical instrument and the tissue in real time.

[0012] The electromagnetic anti-interference positioning component includes a positioning base station and a positioning target. The positioning base station is fixed to the top of the main body of the device, and the positioning target is attached to the surface of the spinous process of the patient's lumbar vertebra and the end of the surgical instrument. The positioning base station is used to achieve positioning by receiving the target signal.

[0013] The above approach has the following beneficial effects:

[0014] 1. This solution achieves integrated control of surgical positioning, instrument operation, and safety protection through the coordinated operation of a robotic arm, a real-time image calibration component, and an electromagnetic anti-interference positioning component. When the patient's lumbar spine shifts due to breathing or body movement, the electromagnetic anti-interference positioning component can capture the displacement data in real time and drive the robotic arm to compensate synchronously, ensuring that the surgical instruments are always aligned with the decompression target point. Compared with traditional techniques that rely on the doctor to manually adjust the instrument position (which not only increases the operational burden but may also cause positioning deviations exceeding 0.5mm due to reaction delays), this solution achieves a dynamic compensation accuracy of less than 0.1mm, significantly improving the stability and accuracy of surgical positioning.

[0015] 2. This solution employs a dual safety verification mechanism based on real-time image recognition and pressure sensing: the real-time image calibration component accurately identifies tissue boundaries such as the lamina and dural sac, while the pressure sensing module monitors the contact pressure between the instrument and the tissue in real time. When the instrument approaches the dural sac, the system can avoid accidental injury through graded responses such as reducing the feed speed, triggering a pause, or emergency retraction. Compared to traditional techniques that rely solely on the surgeon's experience to judge the distance between the instrument and nerve tissue (which carries a high risk of dural sac injury due to visual fatigue or operational errors, with an incidence rate of approximately 3%-5%), this solution reduces the risk of dural sac injury to below 0.5%, significantly improving surgical safety.

[0016] 3. The electromagnetic interference prevention and positioning component of this solution, through the cooperation of the positioning base station and dual positioning targets (patient's body surface and instrument tip), combined with electromagnetic shielding design, effectively resists electromagnetic interference generated by equipment such as high-frequency electrosurgical units and C-arm machines in the operating room, ensuring stable and reliable positioning signals. Compared with traditional optical positioning systems that are easily affected by strong surgical light and instrument obstruction (signal loss rate of about 10%-15%, requiring frequent recalibration), the electromagnetic positioning signal loss rate of this solution is less than 1%, and the calibration interval is extended to the entire operation, reducing the operation interruption time caused by signal interruption and improving surgical efficiency.

[0017] Furthermore, the robotic arm includes a fixed section, a first telescopic arm, a second telescopic arm, and an end effector that are hinged together in sequence. An angle sensor is provided at each hinge point. The angle sensor is used to monitor the posture and position information of the robotic arm in real time and transmit the data to the central control module.

[0018] Beneficial Effects: This solution, by installing angle sensors at the hinges of the fixed section of the robotic arm, the first telescopic arm, the second telescopic arm, and the end effector, can collect the rotation angles of each joint in real time and calculate the overall posture of the robotic arm and the position of the end effector. Based on this data, the central control module can precisely control the extension and rotation movements of the robotic arm, ensuring the stable operation of the surgical instruments along the planned path. The angle sensors at each hinge can capture the posture changes of the robotic arm in real time during operation. When the robotic arm experiences a slight posture deviation due to external resistance (such as the reaction force when the instrument contacts bone), the angle sensors can immediately transmit the deviation data to the central control module. The central control module quickly adjusts the output torque of each joint motor to correct the posture deviation.

[0019] Furthermore, the real-time image calibration component includes a high-speed camera and an image processing unit. The high-speed camera is installed at the end of the robotic arm to capture image information of the surgical area in real time. The image processing unit is used to process the image information, identify the tissue boundaries of the lamina, ligamentum flavum and dural sac, and transmit the identification results to the central control module.

[0020] Beneficial Effects: This solution mounts a high-speed camera at the end of the robotic arm, allowing it to move synchronously with the arm and always focus on the surgical area. It captures high-definition surgical images in real time, and, in conjunction with the image processing unit, accurately identifies the tissue boundaries of the lamina, ligamentum flavum, and dural sac. This provides the central control module with a clear reference for tissue position, ensuring that surgical instruments avoid critical nerve tissue. The real-time processing of image information and tissue boundary recognition by the image processing unit directly provides a basis for dynamic path correction for the robotic arm—when slight displacement of the patient's lumbar spine causes a change in tissue position, the image processing unit can quickly update the boundary data and transmit it to the central control module, which then adjusts the robotic arm's operating path accordingly.

[0021] Furthermore, the electromagnetic anti-interference positioning component includes an electromagnetic shield and a positioning sensor. The electromagnetic shield is used to reduce electromagnetic interference generated by high-frequency electrosurgical units and C-arm machines in the operating room, and the positioning sensor is used to monitor changes in the patient's position in real time and transmit the displacement data to the central control module.

[0022] Beneficial Effects: This solution, by equipping the electromagnetic anti-interference positioning component with an electromagnetic shield, effectively isolates electromagnetic interference in the 10kHz-50MHz frequency band generated by equipment such as high-frequency electrosurgical units and C-arm machines in the operating room. This prevents interference signals from affecting the data acquisition accuracy of the positioning sensor, ensuring that the positioning sensor can stably capture data on changes in the patient's lumbar spine position. The positioning sensor monitors changes in the patient's position in real time and synchronously transmits the data to the central control module. The central control module can combine the data to drive the robotic arm to quickly compensate for displacement, preventing surgical instruments from deviating from the target point due to the patient's breathing and body movements.

[0023] Furthermore, the surgical instrument interface has a built-in chuck structure, which includes a chuck, a fixed claw, a movable claw, and a power component. The chuck is fixedly connected to the end effector, the fixed claw is fixedly connected to the chuck, the chuck has a sliding groove, the movable claw slides into the sliding groove, a drive block is sleeved on the movable claw, the side of the drive block away from the movable claw is fixedly connected to the output shaft of the power component, and the power component is signal-connected to the central control unit.

[0024] Beneficial effects: The chuck structure of this solution uses a power component to drive the movable claw to slide along the groove, working in conjunction with the fixed claw to achieve automated clamping of surgical instruments. The central control unit can precisely adjust the clamping force according to the instrument model (e.g., 220N for drills, 200N for bone forceps), preventing insufficient clamping force from causing instrument loosening or excessive force from damaging the instruments. The chuck structure is linked to the central control unit; when an emergency stop is triggered, the power component immediately drives the movable claw to add 50% clamping force to prevent the instruments from falling out.

[0025] Furthermore, a circular auxiliary track is provided, which surrounds the operating table and is fixedly connected to the operating room floor. The circular auxiliary track has an I-shaped cross-section and rolling bearings are provided on the inner side of the circular auxiliary track. A slider is provided on the side of the fixed section of the robotic arm, and the slider slides in cooperation with the rolling bearings of the circular auxiliary track. An electric roller is installed at the bottom of the main body of the equipment, and the electric roller is connected to the central control unit for signal transmission.

[0026] Beneficial Effects: This solution utilizes a ring-shaped auxiliary track surrounding the operating table. Combined with the sliding engagement of the slider on the side of the robotic arm's fixed section and the rolling bearing on the inner side of the track, the robotic arm can move 360° along the track, flexibly covering surgical areas of each segment of the lumbar spine. The ring-shaped auxiliary track features an I-beam design, and combined with the low-friction characteristics of the rolling bearing, it provides stable support for the robotic arm while reducing the resistance of the slider movement. Combined with the electric roller drive, this ensures smooth and seamless movement of the robotic arm along the track. The electric roller is signal-connected to the central control unit and can automatically drive the robotic arm to the preset position along the track according to the surgical plan, eliminating the need for manual pushing by the surgeon.

[0027] Furthermore, the image processing unit and pressure sensing module of the real-time image calibration component form a dual safety verification. When the image processing unit detects that the distance between the surgical instrument and the dura mater is less than the safe distance threshold, it transmits a warning signal to the central control unit, which controls the feed speed of the robotic arm. If the pressure sensing module detects that the contact pressure is still decreasing, the central control unit determines that the instrument is approaching the dura mater, immediately triggers the emergency retraction of the robotic arm, and shuts off the power source of the surgical instrument.

[0028] Beneficial Effects: Through dual safety verification by the image processing unit and pressure sensing module, the relative state of surgical instruments and the dura mater can be accurately determined from two dimensions: "spatial distance" and "contact pressure." This avoids misjudgments that may occur with a single monitoring dimension—preventing both overprotection due to image recognition errors and protection lag caused by pressure fluctuations. This forms a complementary and rigorous safety protection logic, significantly reducing the risk of accidental injury to the dura mater. First, distance monitoring reduces the robotic arm's feed speed, reserving reaction time for subsequent operations. Then, pressure changes trigger emergency retraction and power source shutdown, forming a complete "early warning-intervention-loss prevention" protection chain. This ensures that when instruments approach critical tissues, risks can be controlled in a timely manner while avoiding disruption to the surgical rhythm due to sudden shutdowns, balancing safety and operational continuity.

[0029] Furthermore, it also includes an early warning module, which includes indicator lights and a buzzer. The early warning module is integrated into the housing of the robotic arm's end effector. When a first-level early warning is triggered, it emits a green intermittent warning sound and a flashing light; when a second-level early warning is triggered, it emits a red continuous alarm sound and a constantly lit light.

[0030] Beneficial Effects: The early warning module, through its tiered signal design of intermittent green alerts (Level 1 warning) and continuous red alarms (Level 2 warning), clearly distinguishes surgical risk levels: Level 1 warnings indicate "attention required but no emergency treatment needed" (e.g., instruments approaching the lamina), while Level 2 warnings indicate "immediate intervention required" (e.g., instruments approaching the dura mater). This helps medical staff quickly assess the urgency of the risk, avoiding overreaction or underreaction due to a lack of tiered warning signals, and improving the efficiency of risk management. The dual audible and visual warning system, combining indicator lights and a buzzer, adapts to the complex environment of the operating room—the light warning facilitates visual focus for medical staff observing the surgical area, while the audible warning alerts surrounding support staff for collaborative attention. These two warning methods complement each other, preventing warning failure due to obstruction (e.g., lights blocked by instruments) or noise (e.g., equipment operating noise), further ensuring the effective transmission of warning signals.

[0031] Furthermore, it also includes a manual operation display screen, which is used to display images from the real-time image calibration component, pressure data from the pressure sensing module, and displacement data from the electromagnetic anti-interference positioning component in real time.

[0032] Beneficial effects: The manually operated display screen centrally visualizes real-time images, pressure data, and displacement data, eliminating the need for medical staff to frequently switch between multiple devices. They can simultaneously grasp key surgical information through a single interface—observing the tissue condition in the surgical area (images), monitoring the contact strength between instruments and tissues (pressure), and understanding the stability of the patient's lumbar spine position (displacement). This significantly improves information acquisition efficiency and reduces operational errors caused by fragmented information. The synchronized display of real-time images and data helps medical staff intuitively determine the correlation between various parameters. For example, when displacement data shows slight lumbar spine movement, the image can be used to confirm whether the instrument has deviated from the target point, and the pressure data can be used to determine the contact state between the instrument and tissue, facilitating the rapid identification of potential risks (such as displacement causing the instrument to approach the dural sac). This provides precise data support for timely adjustments to the surgical procedure, improving the accuracy of surgical decisions.

[0033] Furthermore, it also includes an emergency manual intervention module, which includes an emergency joystick for the robotic arm and an emergency stop button. The emergency joystick is used to manually control the extension, rotation, and lifting of the robotic arm when the central control unit malfunctions or when the doctor needs to make manual adjustments. The emergency stop button is used to cut off the power source of the robotic arm in case of an emergency.

[0034] Beneficial effects: The robotic arm's emergency joystick provides reliable manual control redundancy for surgery. When the central control unit malfunctions (such as program freezes or data transmission interruptions) or the surgeon needs to fine-tune the instrument position based on the actual situation during surgery (such as the discovery of local bone abnormalities), the joystick can be used to precisely control the extension, rotation, and lifting of the robotic arm, avoiding surgical interruptions due to automation system failures and ensuring the continuity and flexibility of the surgical procedure. The emergency stop button can quickly cut off the robotic arm's power source in case of emergencies (such as abnormal instrument vibration, target detachment, or sudden patient movement), causing the robotic arm to stop immediately and preventing tissue damage caused by continued instrument operation. This provides a "last line of defense" for surgical safety and effectively reduces adverse consequences caused by sudden risks.

[0035] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] Figure 1 This is an isometric view of an embodiment of the intelligent decompression surgical navigation device for lumbar spinal stenosis according to the present invention;

[0037] Figure 2 This is a schematic diagram of the chuck structure in an embodiment of the intelligent decompression surgical navigation device for lumbar spinal stenosis of the present invention.

[0038] The reference numerals in the accompanying drawings of the instruction manual include: 1. main body of the equipment; 2. fixed section; 3. first telescopic arm; 4. second telescopic arm; 5. end effector; 6. chuck; 7. fixed claw; 8. movable claw; 9. power component; 10. drive block; 11. circular auxiliary track; 12. operating table. Detailed Implementation

[0039] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] The following detailed description illustrates the specific implementation method:

[0043] Example 1:

[0044] As attached Figure 1 and Figure 2 As shown: An intelligent decompression surgical navigation device for lumbar spinal stenosis includes a main body 1, a central control unit for receiving data from various components and outputting control commands, and a power supply unit for providing power support to the main body 1 and the central control unit. It also includes an execution unit for realizing surgical positioning and instrument operation. The execution unit includes a robotic arm, a real-time image calibration component, and an electromagnetic anti-interference positioning component. The robotic arm, the real-time image calibration component, and the electromagnetic anti-interference positioning component are all signal connected to the central control unit.

[0045] One end of the robotic arm is fixedly connected to the main body 1 of the equipment. An image acquisition module for real-time image acquisition is installed at the end of the robotic arm furthest from the main body 1. The image acquisition module communicates with the real-time image calibration component. The robotic arm includes a fixed section 2, a first telescopic arm 3, a second telescopic arm 4, and an end effector 5, all hinged together in sequence. The first telescopic arm 3 and the second telescopic arm 4 are connected by a nested structure. An angle sensor is installed at each hinge point to monitor the posture and position information of the robotic arm in real time and transmit the data to the central control module.

[0046] The real-time image calibration component includes a high-speed camera and an image processing unit. The high-speed camera is installed at the end of the robotic arm to capture image information of the surgical area in real time. The image processing unit is used to process the image information, identify the tissue boundaries of the lamina, ligamentum flavum and dural sac, and transmit the identification results to the central control module.

[0047] The end effector 5 of the robotic arm is also equipped with a surgical instrument interface, which has a built-in pressure sensing module. In this embodiment, the pressure sensing module uses a thin-film pressure sensor. The pressure sensing module is used to monitor the contact pressure between the surgical instrument and the tissue in real time. The surgical instrument interface has a built-in chuck structure, which includes a chuck 6, a fixed jaw 7, a movable jaw 8, and a power component 9. In this embodiment, the power component 9 is a cylinder. The chuck 6 is fixedly connected to the end effector 5, and the fixed jaw 7 is fixedly connected to the chuck 6. The chuck 6 has a sliding groove, and the movable jaw 8 slides in the groove. A drive block 10 is fitted on the movable jaw 8. The side of the drive block 10 away from the movable jaw 8 is fixedly connected to the output shaft of the power component 9. The power component 9 is signal-connected to the central control unit.

[0048] The electromagnetic interference-resistant positioning component includes a positioning base station and a positioning target. The positioning base station is fixed to the top of the main body 1 of the device, and the positioning target is attached to the surface of the spinous process of the patient's lumbar vertebrae and the end of the surgical instrument. The positioning base station is used to achieve positioning by receiving signals from the target. The electromagnetic interference-resistant positioning component also includes an electromagnetic shield and a positioning sensor. The electromagnetic shield is used to reduce electromagnetic interference generated by high-frequency electrosurgical units and C-arm machines in the operating room, and the positioning sensor is used to monitor changes in the patient's position in real time and transmit the displacement data to the central control module.

[0049] The image processing unit and pressure sensing module of the real-time image calibration component form a dual safety verification. When the image processing unit detects that the distance between the surgical instrument and the dura mater is less than the safe distance threshold, it transmits a warning signal to the central control unit, which controls the feed speed of the robotic arm. If the pressure sensing module detects that the contact pressure is still decreasing, the central control unit determines that the instrument is close to the dura mater, immediately triggers the emergency retraction of the robotic arm, and shuts off the power source of the surgical instrument.

[0050] When the real-time image calibration component detects that the distance between the surgical instrument and the vertebral lamina is less than the preset safe distance, the central control unit controls the robotic arm to reduce the feed speed; when the pressure sensing module detects that the contact pressure drops by more than 50% of the preset pressure threshold, the central control unit triggers the robotic arm to pause its movement and issues a warning signal; when the electromagnetic anti-interference positioning component detects that the patient's lumbar spine displacement exceeds the preset displacement threshold, the central control unit drives the robotic arm to synchronously compensate for the displacement.

[0051] It is also equipped with a ring-shaped auxiliary track 11, which surrounds the operating table 12 and is fixedly connected to the operating room floor. The ring-shaped auxiliary track 11 has an I-shaped cross section and a rolling bearing is provided on the inner side of the ring-shaped auxiliary track 11. A slider is provided on the side of the fixed section 2 of the robotic arm, and the slider slides in cooperation with the rolling bearing of the ring-shaped auxiliary track 11. An electric roller is installed at the bottom of the main body 1 of the equipment, and the electric roller is connected to the central control unit for signal connection.

[0052] It also includes a warning module, which includes indicator lights and a buzzer. The warning module is integrated into the housing of the robotic arm end effector 5. When a first-level warning is triggered, it emits a green intermittent warning sound and a flashing light. When a second-level warning is triggered, it emits a red continuous alarm sound and a constantly lit light.

[0053] It also includes a manual operation display screen, which is used to display images from the real-time image calibration component, pressure data from the pressure sensing module, and displacement data from the electromagnetic anti-interference positioning component in real time.

[0054] The specific implementation process is as follows:

[0055] I. Preoperative Preparation Stage

[0056] The patient was placed in a prone position and fixed on the operating table. A C-arm CT scanner captured lumbar spine images from the anteroposterior (0°), lateral (90°), and oblique (30°) views. The image data was transmitted to the central control unit via a DICOM interface and automatically registered and fused with the preoperative 1mm slice-thick CT images (registration error ≤0.3mm). Based on the fused images, the central control unit automatically marked the L4-L5 laminar stenosis area (area with a sagittal diameter of the spinal canal <10mm) and generated a three-dimensional decompression path plan (path edge ≥2mm from the dural sac). The physician could manually adjust the planned path via a touchscreen with an adjustment accuracy of 0.1mm / step.

[0057] Positioning target installation: Using a sterile adhesive base, three positioning targets are fixed to the L4 spinous process apex, the L5 spinous process apex, and the surface of the sacrospinalis muscle 2cm beside the surgical incision (to avoid traction and displacement during surgery). The positioning targets have built-in miniature gyroscopes to monitor their own posture in real time (sampling frequency 100Hz).

[0058] Base station calibration: After the positioning base station (fixed on the top of the main body of the equipment 1, 121.5m away from the operating table) is started, it automatically scans the target and calculates the three-dimensional coordinates of the target through the triangulation algorithm to complete the initial calibration (calibration time <10s, static positioning error after calibration ≤0.1mm).

[0059] Surgical instrument installation: Insert the lamina biting forceps (head diameter 5mm) into the chuck structure of the end effector 5. The central control unit receives the instrument model identification signal (read by the RFID chip built into the chuck 6) and automatically matches the preset clamping parameters: the cylinder drives the movable claw 8 to slide along the slide groove and apply a clamping force of 200N to the instrument handle (closed-loop control through pressure sensor feedback). At the same time, the laser sensor on the edge of the chuck 6 detects the extension length of the instrument head (≥3mm, otherwise an installation warning will be triggered).

[0060] Pressure sensor module calibration: The doctor holds the instrument and lightly touches the sterile pressure calibration block (hardness simulates the bone of the vertebral lamina). The central control unit records the pressure-deformation curve and automatically sets the reference zero point (error ≤ 0.05N).

[0061] II. Positioning and Navigation Phase

[0062] The central control unit drives the electric rollers (5cm / s) at the bottom of the fixed section 2 of the robotic arm, moving the robotic arm along the circular auxiliary track 11 (2m in diameter) to a preset position on the side of the surgical area (30cm from the edge of the operating table 12). The clearance between the slider and the rolling bearing of the track is ≤0.02mm to ensure smooth movement. After reaching the position, the electromagnetic braking device of the circular track is activated (braking current 2A), locking the slider on the track (locking force ≥500N).

[0063] The robotic arm adjusts its posture through the coordinated movements of fixed section 2, first telescopic arm 3 (maximum telescopic range 20cm), and second telescopic arm 4 (maximum telescopic range 15cm): angle sensors (accuracy 0.01°) collect the angles of each joint in real time, the central control unit calculates the position of the end effector 5 by combining the positioning target data, and drives the joints to make fine adjustments (adjustment step size 0.05°) until the axis of the instrument head coincides with the planned decompression path (deviation <0.2mm), and the center of the field of view of the high-speed camera (resolution 1920×1080, frame rate 60fps) is aligned with the target area.

[0064] After the high-speed camera is activated, the image is preprocessed (denoising and enhancement) by the image processing unit, and then the U-Net deep learning model is used to identify the tissue boundaries: lamina (CT value 800-1200HU, image is grayish-white), ligamentum flavum (CT value 200-400HU, image is light yellow), and dural sac (CT value 0-50HU, image is dark gray). The recognition results are displayed on the manual operation display screen with different colored lines superimposed (green: lamina boundary, yellow: ligamentum flavum boundary, red: dural sac boundary), with a recognition accuracy of ≥95%.

[0065] The central control unit automatically calculates the initial parameters: the distance between the device and the lamina surface is 3mm, the first-level warning distance is set to 1mm (deceleration threshold), the safety distance threshold is 0.5mm (emergency intervention threshold); the pressure preset threshold is 3N (lamina contact determination), and the pressure drop threshold is 50% (i.e., when the pressure drops from 3N to ≤1.5N, an early warning is triggered).

[0066] III. Decompression Operation Stage

[0067] The doctor activates the automatic feed mode via a foot switch. The central control unit drives the second telescopic arm 4 to move the instrument toward the lamina at a speed of 5 mm / s. Simultaneously:

[0068] Angle sensors collect joint angles every 10ms to calculate the real-time position of the device (positioning frequency 100Hz); positioning base stations receive target signals every 20ms and compare the relative displacement between the patient's lumbar spine and the device (dynamic positioning error ≤0.15mm); high-speed cameras update one frame of image every 30ms, and the image processing unit refreshes the tissue boundary position in real time.

[0069] When the image recognition shows that the distance between the instrument and the vertebral plate is less than 1mm, the central control unit reduces the speed of the second telescopic arm 4 motor through pulse width modulation (PWM) signal, and the feed speed is reduced to 2.5mm / s. The green LED light of the warning module flashes at a frequency of 2Hz, and the buzzer emits a prompt tone at 0.5s intervals (volume 60dB).

[0070] After the instrument contacts the lamina, the pressure sensing module detects a linear increase in pressure from 0 to 3N. The central control unit determines this as effective contact and activates the constant force control mode (pressure fluctuation range ±0.2N) to ensure stable resection force. At this time, the first telescopic arm 3 makes real-time fine adjustments based on the three-dimensional displacement of the lumbar spine (sampling frequency 50Hz) fed back from the positioning target: if the patient's breathing causes the lumbar spine to shift upward by 0.3mm, the first telescopic arm 3 rotates upward by 0.5° (corresponding to a vertical compensation of 0.3mm), and the second telescopic arm 4 extends simultaneously by 0.3mm (horizontal compensation), with a compensation response time of <0.1s.

[0071] If the image processing unit detects that the instrument deviates from the planned path (deviation > 0.3 mm), the central control unit immediately calculates the correction amount: drives the first telescopic arm 3 to rotate the corresponding angle (corrects the lateral deviation), and the second telescopic arm 4 adjusts the telescopic amount (corrects the longitudinal deviation). During the correction process, the feed speed remains unchanged (to avoid interruptions that affect the continuity of operation). After the correction is completed, the deviation is < 0.1 mm.

[0072] IV. Security Protection Triggering Phase

[0073] As the device approaches the dural sac, the system initiates multi-parameter cross-validation:

[0074] The image processing unit detected that the distance between the instrument and the dura mater was less than 0.5 mm and immediately sent a first-level deceleration signal to the central control unit, driving the robotic arm to reduce its feed speed to 1.5 mm / s. The synchronous pressure sensing module detected that the pressure dropped sharply from 4 N (ligamentum flavum contact pressure) to 1.2 N (dura mater surface pressure characteristic), a decrease of 70% (exceeding the 50% threshold), and sent a second-level warning signal. The positioning target data showed that the relative displacement between the instrument and the dura mater was less than 0.3 mm, confirming the risk status.

[0075] After receiving the triple risk signals (judgment time <50ms), the central control unit simultaneously triggers the following: the red LED light remains constantly on, and the buzzer emits a continuous 85dB alarm sound; the second telescopic arm 4 moves in the opposite direction, driving the instrument to retract urgently by 0.5mm (retraction speed 10mm / s, ensuring rapid removal from the risk area); the power source of the lamina biting forceps is cut off (pneumatic valve closed, air pressure drops to 0) to avoid continuous movement; the high-speed camera switches to close-up mode (magnification ×5), captures an image of the area where the instrument contacts the dura mater sac, and displays it centered on the screen (delay <100ms) to assist doctors in determining whether there is any damage.

[0076] V. Postoperative Closure Stage

[0077] The central control unit automatically generates structured surgical reports, including:

[0078] Three-dimensional decompression range: Based on preoperative / postoperative image fusion, the volume of the decompression area (accuracy 0.1cm³) and the improvement value of the sagittal diameter of the spinal canal are calculated;

[0079] Key parameter curves: pressure change curve (sampling point interval 10ms), robotic arm displacement compensation record (time-displacement correspondence table), early warning trigger time point and reason;

[0080] Instrument operation data: total feed distance, number of angle adjustments, duration of manual intervention, etc. Reports can be exported via USB flash drive or stored in the cloud (encrypted transmission).

[0081] Equipment reset procedure: The doctor issues a command via the touchscreen, and the movable claw 8 of the chuck structure retracts to its initial position along the slide (clamping force reduced to 0). After removing the vertebral plate bone-biting forceps, the chuck 6 automatically cleans itself (internal UV lamp irradiation for 30 seconds, disinfection wavelength 254nm). The central control unit drives the electric rollers, moving the robotic arm along the circular track to its initial docking position (122m from the operating table). The first / second telescopic arms 4 retract to their shortest state, and the end effector 5 rotates vertically upward (to avoid collision). The power supply unit switches to standby mode (power <10W), the positioning base station maintains low-power monitoring (sampling every 10s), the high-speed camera is turned off, and only the central control unit's background data processing function is retained.

[0082] Example 2:

[0083] The difference from Embodiment 1 is that it also includes an emergency manual intervention module, which includes an emergency joystick for the robotic arm and an emergency stop button. The emergency joystick is used to manually control the extension, rotation, and lifting of the robotic arm when the central control unit malfunctions or when the doctor needs to make manual adjustments. The emergency stop button is used to cut off the power source of the robotic arm in case of an emergency.

[0084] The specific implementation process is as follows:

[0085] If a doctor discovers an image recognition error and manual adjustment is required:

[0086] When the doctor pulls out the emergency joystick, the mechanical linkage pushes the cam structure, physically disconnecting the electrical connection between the central control unit and the joint motor (avoiding electronic switching delay), while simultaneously activating the manual control circuit. The joystick is connected to the robotic arm joint via a gear set; the operating resistance increases linearly with the joint angle (maximum resistance 5N), providing mechanical feedback (simulating different tissue stiffness). The doctor controls the joystick via:

[0087] The first telescopic arm 3 rotates (range -30° to +30°, step size 0.1°).

[0088] The second telescopic arm 4 can extend (range 0-15cm, step length 0.1mm).

[0089] The end effector 5 rotates (range -90° to +90°, adaptable to different surgical angles).

[0090] In case of an emergency (such as the positioning target falling off), the doctor presses the emergency stop button:

[0091] Robotic arm: All joint motors are powered off, and the electromagnetic brake is activated (braking torque ≥10N). m), lock the current pose;

[0092] Chuck structure: The cylinder drives the movable jaw 8 to apply an additional 100N clamping force (total clamping force reaches 300N) to prevent the instrument from falling off;

[0093] Circular track: The brake pads and sliders make frictional contact (friction force ≥800N) to lock the overall position of the robotic arm;

[0094] Display screen: Automatically switches to the emergency interface, displaying the pressure curve, displacement data and image screenshots of the last 10 seconds to assist in troubleshooting.

[0095] After troubleshooting, the doctor returns the emergency lever to its original position, the cam structure resets and connects the automatic control circuit. The central control unit reads the current posture of the robotic arm through the angle sensor and compares it with the pre-operative planned path. If the deviation is less than 1mm, a smooth transition algorithm is activated (gradually adjusting to the planned path within 5 seconds); if the deviation is greater than or equal to 1mm, the doctor is prompted to recalibrate the positioning target to avoid instrument impact caused by sudden changes in posture.

[0096] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An intelligent decompression surgical navigation device for lumbar spinal stenosis, comprising a main body (1), a central control unit, and a power supply unit, characterized in that, It also includes an execution unit for surgical positioning and instrument operation. The execution unit includes a robotic arm, a real-time image calibration component, and an electromagnetic interference-proof positioning component. The robotic arm, the real-time image calibration component, and the electromagnetic interference-proof positioning component are all connected to the central control unit via signals. One end of the robotic arm is fixedly connected to the main body of the equipment (1), and the end of the robotic arm away from the main body of the equipment (1) is equipped with an image acquisition module for real-time image information acquisition. The image acquisition module communicates with the real-time image calibration component. The free end of the robotic arm is also equipped with a surgical instrument interface. The surgical instrument interface has a built-in pressure sensing module, which is used to monitor the contact pressure between the surgical instrument and the tissue in real time. The electromagnetic anti-interference positioning component includes a positioning base station and a positioning target. The positioning base station is fixed on the top of the main body of the device (1), and the positioning target is pasted on the surface of the spinous process of the patient's lumbar vertebra and the end of the surgical instrument. The positioning base station is used to achieve positioning by receiving the target signal.

2. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 1, characterized in that, The robotic arm includes a fixed section (2), a first telescopic arm (3), a second telescopic arm (4), and an end effector (5) that are hinged together in sequence. An angle sensor is provided at each hinge point. The angle sensor is used to monitor the posture and position information of the robotic arm in real time and transmit the data to the central control module.

3. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 2, characterized in that, The real-time image calibration component includes a high-speed camera and an image processing unit. The high-speed camera is installed at the end of the robotic arm to capture image information of the surgical area in real time. The image processing unit is used to process the image information, identify the tissue boundaries of the lamina, ligamentum flavum and dural sac, and transmit the identification results to the central control module.

4. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 3, characterized in that, The electromagnetic interference prevention and positioning component includes an electromagnetic shield and a positioning sensor. The electromagnetic shield is used to reduce electromagnetic interference generated by high-frequency electrosurgical units and C-arm machines in the operating room. The positioning sensor is used to monitor changes in the patient's position in real time and transmit the displacement data to the central control module.

5. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 4, characterized in that, The surgical instrument interface has a built-in chuck structure, which includes a chuck (6), a fixed claw (7), a movable claw (8), and a power unit (9). The chuck (6) is fixedly connected to the end effector (5), the fixed claw (7) is fixedly connected to the chuck (6), the chuck (6) has a sliding groove, the movable claw (8) slides in the sliding groove, the movable claw (8) is fitted with a drive block (10), the drive block (10) is fixedly connected to the output shaft of the power unit (9) on the side away from the movable claw (8), and the power unit (9) is connected to the central control unit via signal.

6. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 5, characterized in that, It is also equipped with a ring-shaped auxiliary track (11), which surrounds the operating table (12) and is fixedly connected to the operating room floor. The cross-section of the ring-shaped auxiliary track (11) is I-shaped, and a rolling bearing is provided on the inner side of the ring-shaped auxiliary track (11). A slider is provided on the side of the fixed section (2) of the robotic arm, and the slider slides in cooperation with the rolling bearing of the ring-shaped auxiliary track (11). An electric roller is installed at the bottom of the main body (1) of the equipment, and the electric roller is connected to the signal of the central control unit.

7. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 6, characterized in that, The image processing unit and pressure sensing module of the real-time image calibration component form a dual safety verification. When the image processing unit detects that the distance between the surgical instrument and the dura mater is less than the safe distance threshold, it transmits a warning signal to the central control unit, which controls the feed speed of the robotic arm. If the pressure sensing module detects that the contact pressure is still decreasing, the central control unit determines that the instrument is close to the dura mater, immediately triggers the emergency retraction of the robotic arm, and shuts off the power source of the surgical instrument.

8. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 7, characterized in that, It also includes an early warning module, which includes an indicator light and a buzzer. The early warning module is integrated into the housing of the end effector (5) of the robotic arm. When a first-level early warning is triggered, it emits a green intermittent warning sound and a flashing light. When a second-level early warning is triggered, it emits a red continuous alarm sound and a constantly lit light.

9. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 8, characterized in that, It also includes a manual operation display screen, which is used to display images from the real-time image calibration component, pressure data from the pressure sensing module, and displacement data from the electromagnetic anti-interference positioning component in real time.

10. The intelligent decompression surgical navigation device for lumbar spinal stenosis according to claim 9, characterized in that, It also includes an emergency manual intervention module, which includes an emergency joystick for the robotic arm and an emergency stop button. The emergency joystick is used to manually control the extension, rotation, and lifting of the robotic arm when the central control unit malfunctions or when the doctor needs to make manual adjustments. The emergency stop button is used to cut off the power source of the robotic arm in case of an emergency.

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