Mobile surgical platform

Abstract

The present invention relates to a movable surgical platform, which belongs to surgical equipment. The movable surgical platform is arranged on an operating bed. The movable surgical platform is provided with an operating area for positioning the target part of the operation, and a first mark for being identified by a scanning device or a positioning tracking device. After the first mark is identified by the scanning device or the positioning tracking device, an imaging device establishes an operating coordinate system for the operating area. By arranging the movable surgical platform of the present application on the operating bed, linkage with the scanning device or the positioning tracking device and the imaging device is achieved. During the operation, the scanning device or the positioning tracking device directly identifies the first mark to establish the operating coordinate system through the imaging device, so that the surgical robot can complete the operation according to the operating coordinate system, so that the real-time point positioning of the operation is accurate, the progress of the operation is improved, and at the same time, it helps to improve the efficiency of the operation.

Description

Technical Field

[0001] The invention relates to a movable operating platform, belonging to surgical operating equipment. Background Art

[0002] During interventional surgery, the target site of the surgery is confirmed by a display device, and the location of the lesion is displayed after the surgical instruments enter the human body. However, the confirmation of the surgical implementation point is currently usually determined by the doctor's experience. Since it relies entirely on human assessment, it requires a very high level of clinical experience from the doctor and is prone to inaccurate positioning. Summary of the invention

[0003] The purpose of the present invention is to provide a movable surgical platform capable of realizing intelligent surgery.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a movable surgical platform, arranged on an operating bed, wherein the movable surgical platform is provided with a surgical implementation area for carrying a surgical target part, and a first mark for being identified by a scanning device or a positioning tracking device, and after the first mark is identified by the scanning device or the positioning tracking device, an imaging device establishes a surgical coordinate system for the surgical implementation area according to the first mark obtained by the scanning device or the positioning tracking device.

[0005] Furthermore, a fixing device for fixing the surgical target site on the movable surgical platform is provided in the surgical implementation area.

[0006] Furthermore, the first mark may be set in one or more of the surgical area, outside the surgical area, and a fixing device.

[0007] Furthermore, the movable surgical platform is also provided with an installation area for carrying surgical instruments for performing surgery, and the installation area is located outside the surgical implementation area.

[0008] Furthermore, the movable platform includes a second mark arranged on the surgical instrument and / or the installation area. After the second mark is recognized by the scanning device or the positioning tracking device, the imaging device establishes a surgical coordinate system for the surgical implementation area based on the second mark and the first mark obtained by the scanning device or the positioning tracking device.

[0009] Furthermore, the movable platform includes a second mark arranged on a surgical instrument used to perform the operation. After the second mark is recognized by a scanning device or a positioning tracking device, the imaging device establishes a surgical coordinate system for the surgical implementation area based on the second mark and the first mark obtained by the scanning device or the positioning tracking device.

[0010] Furthermore, the movable surgical platform includes a first base and a second base, the first base is arranged in the surgical implementation area to detachably install the fixing device, and the second base is arranged in the installation area to detachably install the surgical equipment.

[0011] Furthermore, the first mark can be moved according to the operation implementation situation, and the second mark can be moved according to the operation implementation situation.

[0012] Furthermore, the movable surgical platform is a flat plate structure, and the movable surgical platform is provided with a pressing area which is pressed by the patient's body so that the movable surgical platform can be fixed on the operating bed.

[0013] Furthermore, the movable surgical platform is used in a magnetic resonance environment.

[0014] The beneficial effects of the present invention are as follows: by setting the movable surgical platform of the present application on the operating bed, linkage with a scanning device or a positioning tracking device, and an imaging device is achieved. During the operation, the first mark is directly identified by the scanning device or the positioning tracking device to establish a surgical coordinate system through the imaging device, so that the surgical robot can complete the operation according to the surgical coordinate system, accurately locate the surgical implementation point, improve the progress of the operation, and help improve the efficiency of the operation.

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a movable operating table shown in one embodiment of the present invention;

[0017] Figure 2 for Figure 2 A schematic structural diagram of the movable operating table shown in another direction;

[0018] Figure 3 A schematic diagram of the structure of a movable operating table for head surgery. DETAILED DESCRIPTION

[0019] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] Please combine Figures 1 to 3The movable surgical platform 10 shown in a preferred embodiment of the present invention is arranged on an operating table (not shown). The movable surgical platform 10 is provided with an operating area 1 for positioning the surgical target part (not shown) and a first mark (not shown) for being recognized by a scanning device. After the first mark is recognized by the scanning device, the imaging device establishes a surgical coordinate system for the operating area 1 according to the first mark obtained by the scanning device. The scanning device adopts conventional technology in the prior art. In this embodiment, the movable surgical platform 10 is used in a magnetic resonance environment, the scanning device and the imaging device are conventional components in the existing magnetic resonance system, and the operating table is a magnetic resonance table in the magnetic resonance system. Of course, in other embodiments, the movable surgical platform 10 can be any device that can be used in surgery, which is not limited here. In this embodiment, the movable surgical platform 10 is a flat plate structure as a whole. Specifically, the movable surgical platform 10 includes a flat plate body 2 placed on the operating table, and the operating area 1 is arranged on the flat plate body 2. Through this design, it can be matched with any operating table, that is, as long as the movable surgical platform 10 is placed flat on the operating table. Since the movable surgical platform 10 is a flat plate structure, it can be directly placed flat on the operating bed, and has strong feasibility and flexibility. Of course, the movable surgical platform 10 can also be fixed to the operating bed through a detachable connection mechanism, such as providing bolts on the movable surgical platform 10, and abutting against the operating bed through the bolts to achieve the fixation of the movable surgical platform 10 and the operating bed.

[0021] It should be noted that, in this embodiment, the movable surgical platform 10 is directly placed on the operating bed, and there is no connection structure to fix it to the operating bed. In order to prevent the movable surgical platform 10 from moving relative to the operating bed during the operation, the movable surgical platform 10 is pressed against the operating bed by the human body. Specifically, the movable surgical platform 10 is provided with a pressing area 3 that is pressed by the patient's body to fix the movable surgical platform 10 on the operating bed. The pressing area 3 is located on one side of the operation area 1. Figure 3 In a head surgery, the pressing area 3 is the back of the human body pressed against the operating table.

[0022] The surgical implementation area 1 is provided with a fixing device (as shown in the figure) for fixing the surgical target site on the movable surgical platform 10. The fixing device is detachably installed in the surgical implementation area 1. The movable surgical platform 10 includes a first base 41 arranged in the surgical implementation area 1 for detachably mounting the fixing device. The first mark can be set in one or more of the surgical implementation area 1, outside the surgical implementation area 1, and the fixing device. Usually, the first mark is set in the fixing device and outside the surgical implementation area, so as to facilitate the establishment of a coordinate system with the fixing device as the origin coordinate. During a specific operation, different types of fixing devices can be replaced according to the actual surgical situation, such as in combination with Figure 2 and Figure 3 In head surgery, the fixing device is a head frame 51. The structure of the head frame 51 can be a conventional structure in the prior art and is not described in detail in this embodiment. The first base 41 includes a head coil mounting base. In order to realize the scanning of the head frame 51 in the magnetic resonance system, in this embodiment, the surgical implementation area 1 is also provided with a head coil 52. In order to facilitate the installation and fixation of the head coil 52, the movable surgical platform 10 also includes a head coil mounting base. The head coil mounting base is a fixture for holding the head coil 52, and the head frame mounting base 42 is a slot for cooperating with the head frame 51. In this embodiment, in order to make the human body more comfortable during the operation, the surgical implementation area 1 is formed by a depression on the flat body 2.

[0023] In the present embodiment, the movable surgical platform 10 is further provided with an installation area 6 for installing surgical equipment (not shown in the figure), and the number of the installation areas 6 can be determined according to the number of surgical equipment. The installation area 6 is located outside the surgical implementation area 1. By arranging the installation area 6, the movable surgical platform 10 can carry different types of surgical instruments 20 for performing surgery, making it more functional. The movable surgical platform 10 includes a second mark (not shown in the figure) arranged on the installation area 6. After the second mark is recognized by the scanning device, the imaging device jointly establishes a surgical coordinate system for the surgical implementation area based on the second mark and the first mark obtained by the scanning device. In the present embodiment, the surgical instrument 20 is fixed at a designated position, that is, the installation area 6 is the designated position. Figure 1In the embodiment, the installation area 6 is two, which are respectively arranged at the front side of the surgical implementation area 1, and the two installation areas 6 are located at two end points. In other embodiments, the installation area 6 can be a moving range for the surgical instrument 20, and the surgical instrument 20 is arranged within the range and can move within the range. At this time, the second mark needs to be installed on the surgical instrument 20, and the second mark can also be set at the same time or not set in other ranges of the installation area. The main purpose of the second mark is to obtain the positional relationship of the surgical instrument 20 relative to the surgical implementation area. It should be noted that the surgical coordinate system for the surgical implementation area established by the imaging device based on the first mark and the second mark can be one (the one coordinate system is the coordinate with the surgical implementation area as the origin), or two or more (one is the coordinate with the surgical implementation area as the origin, and the others are the coordinates with each surgical instrument 20 as the origin). When performing the operation, the control system or the operator controls the movement of the surgical instrument 20 according to one or more surgical coordinate systems, and the control system controls the movement of the surgical instrument 20 can also be implemented by route planning and other methods in the prior art. In addition, the method in which the imaging device establishes a surgical coordinate system for the surgical implementation area based on the second mark and / or the first mark is also a commonly used method in the prior art, such as through 3D modeling and the like.

[0024] Of course, in other embodiments, the installation area may not be set, and the second mark of the movable platform is set on the surgical instrument 20 used for performing the operation. Similarly, after the second mark is recognized by the scanning device, the imaging device establishes a surgical coordinate system for the surgical implementation area based on the second mark obtained by the scanning device and the first mark. In other embodiments, the scanning device can be replaced by a positioning tracking device, which can be an infrared or electromagnetic recognition device.

[0025] The first mark and the second mark can be moved according to the implementation of the operation. The first mark and the second mark are identification points with a sticking function. In this embodiment, the first mark and the second mark are made of conventional materials that can be recognized by scanning equipment or positioning tracking equipment in the prior art, such as made of ceramic materials, or coated with a conspicuous agent on the adhesive paper, etc. In this embodiment, the detailed structure, components and preparation method of the first mark and the second mark are not described in detail. It should be noted that in the same type of operation, the identification point does not need to be moved, and its movement is only due to the implementation of different types, and the method of establishing the coordinate system of another type of operation is different from the coordinate system method of the previous operation. In addition to the structure in which the first mark and the second mark are set in a movable position in this embodiment, in other embodiments, the first mark and the second mark can also be set as an immovable structure. The surgical instrument 20 is detachably mounted in the installation area 6. The movable operating table includes a second base arranged in the installation area 6 to detachably mount the surgical instrument 20. According to actual surgical needs, different types of surgical instruments 20 can be replaced according to different surgical requirements. For example, combined with Figure 2 and Figure 3 The second base includes a connecting plate 71 disposed on the flat plate 2 and a fastener (not shown) for fastening the connecting plate 71 and the surgical instrument 20. The mounting area 6 is formed by a depression from the flat plate 2. In the head surgery, the abutment area, the surgical implementation area 1, and the mounting area 6 are arranged in sequence. The second mark can be arranged on the mounting area 6 and / or on the surgical instrument 20 located in the mounting area 6.

[0026] In summary, by setting up the movable surgical platform 10 of the present application on the operating bed, linkage with the scanning device or the positioning tracking device, and the imaging device is achieved. During the operation, the first mark is directly identified by the scanning device or the positioning tracking device to establish the surgical coordinate system through the imaging device, so that the surgical robot can complete the operation according to the surgical coordinate system, accurately locate the surgical implementation point, improve the progress of the operation, and help to improve the efficiency of the operation.

[0027] 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.

[0028] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A movable surgical platform, characterized in that: The movable surgical platform is arranged on an operating table, and is provided with a surgical implementation area for carrying a surgical target part, and a first mark for being identified by a scanning device or a positioning tracking device. After the first mark is identified by the scanning device or the positioning tracking device, an imaging device establishes a surgical coordinate system for the surgical implementation area according to the first mark obtained by the scanning device or the positioning tracking device. The surgical implementation area is provided with a fixing device for fixing the surgical target site on the movable surgical platform; The movable surgical platform is a flat plate structure, and is provided with a pressing area which is pressed by the patient's body so that the movable surgical platform can be fixed on the operating table.

2. The movable surgical platform according to claim 1, characterized in that: The first mark may be set in one or more of the following: inside the surgical field, outside the surgical field, and a fixing device.

3. The movable surgical platform according to claim 1, characterized in that: The movable surgical platform is also provided with an installation area for carrying surgical instruments for performing surgery, and the installation area is located outside the surgical implementation area.

4. The movable surgical platform according to claim 3, characterized in that: The movable surgical platform includes a second mark arranged on the surgical instrument and / or the installation area. After the second mark is recognized by the scanning device or the positioning tracking device, the imaging device establishes a surgical coordinate system for the surgical implementation area based on the second mark obtained by the scanning device or the positioning tracking device and the first mark.

5. The movable surgical platform according to claim 1, characterized in that: The movable surgical platform includes a second mark set on a surgical instrument used to perform surgery. After the second mark is recognized by a scanning device or a positioning tracking device, an imaging device establishes a surgical coordinate system for the surgical implementation area based on the second mark and the first mark obtained by the scanning device or the positioning tracking device.

6. The movable surgical platform according to claim 3, characterized in that: The movable surgical platform includes a first base and a second base. The first base is arranged in the surgical implementation area to detachably install a fixing device, and the second base is arranged in the installation area to detachably install surgical equipment.

7. The movable surgical platform according to claim 5, characterized in that: The first mark can be moved according to the operation implementation situation, and the second mark can be moved according to the operation implementation situation.

8. The movable surgical platform according to claim 1, 3 or 5, characterized in that: The movable surgical platform is used in a magnetic resonance environment.

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