Surgical positioning components and MRI-compatible surgical navigation systems

Abstract

The present invention relates to a surgical positioning component and a magnetic resonance compatible surgical navigation system. Since the support frame of the surgical positioning component and the magnetic resonance compatible surgical navigation system can move in at least two degrees of freedom relative to the desired position of the patient's body, the surgical positioning component can achieve at least two degrees of freedom of transformation, which helps to reduce the difficulty of performing the operation. In addition, another surgical positioning component of the present invention is connected to the magnetic resonance system by simultaneously arranging a coil that generates a magnetic field in the desired position area of ​​the patient's body to achieve angiography before and during the operation, thereby obtaining the spatial position of the positioning target point during the operation, and then the angiography and target position positioning can be carried out simultaneously, which can improve the accuracy of the operation, reduce the risk of surgical infection and shorten the operation time. The present invention is suitable for implantable medical surgery or interventional medical surgery, especially implantable medical surgery or interventional medical surgery compatible with nuclear magnetic resonance.

Description

Technical Field

[0001] The invention relates to a surgical positioning component and a magnetic resonance compatible surgical navigation system, belonging to medical surgical equipment. Background Art

[0002] Magnetic resonance imaging (MRI) is a new diagnostic imaging technology introduced clinically in the 1980s. MRI is capable of multi-directional, multi-planar, and multi-parameter imaging, with excellent soft tissue resolution and precise geometric properties. Compared to X-rays and CT scans, MRI emits no ionizing radiation, making it harmless to both patients and surgeons. Due to its advantages over other imaging modalities in minimally invasive surgery, doctors and engineers decided to integrate robotic technology into MRI. This led to the development of MRI-guided robotic minimally invasive surgery, which offers advantages such as radiation-free, multi-directional imaging, excellent soft tissue resolution, precise positioning, and extended operating time. It represents the future direction of minimally invasive surgery, both today and for a long time to come.

[0003] Deep brain stimulators (DBS) implanted in the brain can be used to treat movement disorders such as Parkinson's disease, as well as epilepsy, mental illnesses such as depression and obsessive-compulsive disorder, and can also be used for drug rehabilitation. During the implantation surgery, because the human head contains cerebral fluid and the human brain tissue is covered by cerebral fluid, when the skull shell is opened during IPG implantation surgery, a small amount of cerebral fluid will flow out of the skull. At this time, due to the change in cerebral fluid volume, the position of the brain tissue will shift, and the spatial position of the positioning target point will also shift. At this time, if the surgery is still performed according to the previous angiographic images, the implanted IPG will not be able to accurately reach the positioning target point.

[0004] In addition, the current positioning components are incompatible with the MRI room, and the IPG implantation surgery needs to be performed outside the MRI room. This causes the patient to be repeatedly pushed in and out of the MRI room, increasing the risk of infection and delaying the operation. Summary of the Invention

[0005] The purpose of the present invention is to provide a surgical component that can realize transformation in multiple degrees of freedom and help reduce the difficulty of performing surgery.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a surgical positioning assembly for placing surgical tools at a desired position on the patient's body, wherein the surgical positioning assembly comprises at least a support frame for supporting the surgical tools, and the support frame can move in at least two degrees of freedom relative to the desired position on the patient's body.

[0007] Furthermore, the support frame can perform rotational movement and / or translational movement along at least one circumferential direction relative to the desired position of the patient's body.

[0008] Furthermore, the support frame includes at least two sub-frames, and the at least two sub-frames rotate along a first circumferential direction relative to a desired position of the patient's body.

[0009] Furthermore, at least two of the sub-frames perform same-direction or counter-directional rotational motion along a first circumferential direction relative to a desired position of the patient's body.

[0010] Furthermore, the two sub-frames include a first sub-frame and a second sub-frame, and both the first sub-frame and the second sub-frame are cantilever structures; the first sub-frame and the second sub-frame are relatively arranged on both sides of the desired position of the patient's body.

[0011] Furthermore, each of the sub-frames has a first fixed end and a second fixed end that are arranged opposite to each other, and the first fixed end and the second fixed end are arranged opposite to each other on both sides of a desired position on the patient's body.

[0012] Furthermore, the rotation center of the frame coincides with the midpoint of the vertical scanning baseline and the transverse scanning baseline of the nuclear magnetic resonance system.

[0013] Furthermore, the support frame includes a frame for installing the surgical tool and / or allowing the surgical tool to move thereon.

[0014] Furthermore, the support frame is a robotic arm capable of moving in at least two degrees of freedom.

[0015] Furthermore, the surgical positioning assembly also includes a base, which is arranged below the support frame; the support frame can move on the base.

[0016] Furthermore, the surgical positioning assembly also includes a coil used in the imaging process.

[0017] Furthermore, the surgical positioning component coil is fixed on the surgical positioning component and is fixed in the desired position of the patient's body.

[0018] Furthermore, the surgical positioning assembly also includes a fixing device for fixing the patient's body in a desired position.

[0019] Furthermore, the fixing device includes a holding pin for holding the patient at a desired position on the body.

[0020] The present invention also provides the following technical solution: a surgical positioning component, comprising a magnetic field generating device that generates a magnetic field at least at a part of the desired position of the patient's body, and a support frame close to the desired position of the patient's body and used to support surgical tools, wherein the support frame moves relative to the desired position of the patient's body.

[0021] Furthermore, the surgical positioning assembly also includes a fixing device for fixing the patient's body in a desired position.

[0022] Furthermore, the fixing device includes a holding pin for holding the patient at a desired position on the body.

[0023] Furthermore, the desired position of the patient's body is the patient's head.

[0024] The present invention also provides a magnetic resonance compatible surgical navigation system, comprising the above-mentioned surgical positioning component.

[0025] The beneficial effects of the present invention are as follows: the surgical positioning component and the magnetic resonance compatible surgical navigation system of the present invention can move in at least two degrees of freedom relative to the desired position of the patient's body due to the support frame thereof, so that the surgical positioning component can achieve transformation in at least two degrees of freedom, which helps to reduce the difficulty of performing the surgery. In addition, another surgical positioning component of the present invention is connected to the magnetic resonance system by arranging a magnetic field generating device that generates a magnetic field at the desired position of the patient's body to achieve angiography before and during the operation, thereby obtaining the spatial position of the positioning target point during the operation, and then the angiography and target position positioning can be carried out simultaneously, so that the accuracy of the operation can be improved, the risk of surgical infection can be reduced, and the operation time can be shortened. The present invention is suitable for implantable medical surgery or interventional medical surgery, especially implantable medical surgery or interventional medical surgery compatible with nuclear magnetic resonance.

[0026] 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 with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of a surgical positioning assembly shown in Example 1 of the present invention;

[0028] Figure 2 This is a structural diagram of a surgical positioning assembly shown in Example 2 of the present invention;

[0029] Figure 3 This is a schematic structural diagram of a surgical positioning assembly shown in Example 3 of the present invention;

[0030] Figure 4 for Figure 3 Exploded view of the middle part structure;

[0031] Figure 5 This is a schematic structural diagram of a surgical positioning assembly shown in Example 4 of the present invention;

[0032] Figure 6 An exploded view of other base and head fixing device structures in the present invention;

[0033] Figure 7 This is a schematic structural diagram of a surgical positioning assembly shown in Example 5 of the present invention;

[0034] Figure 8 for Figure 7 Exploded view of the mid-angle adjustment bracket;

[0035] Figure 9 This is a structural diagram of the surgical positioning assembly shown in Example 6 of the present invention.

[0036] Figure 10 This is a structural diagram of the surgical positioning assembly shown in Example 7 of the present invention. DETAILED DESCRIPTION

[0037] The following embodiments of the present invention are described in further detail with reference to 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.

[0038] The present invention provides a surgical positioning assembly that can be used to locate a desired area throughout the body, including the brain. While the following discussion uses the brain as a positioning area as a specific embodiment, the device's practical applications are not limited to the brain. Because the brain is part of the head, it is often necessary to immobilize the head when targeting the brain to facilitate surgical procedures. Therefore, the purpose of immobilizing the patient's head described below is to locate the brain.

[0039] See Figure 1 The surgical positioning assembly 1 shown in the first embodiment of the present invention includes a support frame 10 for supporting surgical tools and a base 20 arranged below the support frame 10. In this embodiment, the surgical tools are a puncture device and a tube sheath 12 through which the electrode wire passes (please refer to the embodiment of the present invention). Figure 2 ), in this embodiment, the sleeve 12 adopts the existing conventional design, so it is not described in detail. The support frame 10 can move in at least two degrees of freedom relative to the patient's head (not numbered). In this embodiment, the support frame 10 is designed to move in two degrees of freedom relative to the patient's head. The support frame 10 includes a frame 30 for supporting surgical tools and an angle adjustment frame 40 for supporting the frame 30. The frame 30 can adopt polygonal shapes including but not limited to arc, triangle, rectangle, etc., preferably arc. Figure 1 As the reference perspective, a rectangular space coordinate system is established based on the space where the patient's head is located. Figure 1The x-axis is defined as the width of the frame assembly 1, the y-axis is defined as the height of the frame assembly 1, and the z-axis is defined as the longitudinal direction of the frame assembly 1. Assuming the patient is lying flat on their back with their face facing upward, using the patient's head as a reference for the spherical model, the circle passing through the two ears is defined as the second circumferential direction of the head, and the circle perpendicular to the second circumferential direction is defined as the first circumferential direction of the head. The angle adjustment frames 40 are positioned on opposite sides of the patient's head, near the ears. The angle adjustment frames 40 can drive the frame 30 to rotate along the patient's head along the first circumferential direction. The frame 30 has a generally arc-shaped shape with arc-shaped segments (unnumbered). The frame 30 extends along the second circumferential direction. The base 20 has two longitudinal extension frames 201 extending along the z-axis and a transverse extension frame 202 connecting the two longitudinal extension frames 201. The support frame 30 is mounted on the longitudinal extension frames 201 and is movable relative to the longitudinal extension frames 201 along their longitudinal direction (z-axis). In this embodiment, the support frame 30 and the longitudinal extension frame 201 achieve translational motion via a slide rail assembly. Since the support frame 30 can move relative to the patient's head in two degrees of freedom (rotation along the first circumferential direction and translation along the longitudinal direction), the surgical positioning assembly 1 can achieve at least two degrees of freedom, helping to reduce the difficulty of surgical execution.

[0040] The following process can be used to perform surgery using the surgical positioning assembly 30 of the first embodiment:

[0041] After the initial positioning is complete and before the craniotomy is about to begin, the frame 30 can be directly removed without rotating it to tilt it upward. At this point, the angle of the frame 30 remains at its working position. After the craniotomy, the frame 30 can be replaced and the next step can be performed directly, eliminating the need for secondary adjustments to the frame 30 and the resulting errors. The frame 30 can be removed simply by rotating the angle adjustment bracket 40; no position adjustment is required.

[0042] See Figure 2The surgical positioning assembly 100 shown in the second embodiment of the present invention includes a support frame 13 for supporting surgical tools and a magnetic field generating device 11 for generating a magnetic field in the patient's head area. The support frame 13 can perform rotational movement relative to the patient's head (unnumbered) and translational movement relative to the patient's head. The surgical positioning assembly 100 is connected to the magnetic resonance imaging system through the magnetic field generating device 11 that generates a magnetic field in the patient's head area to achieve imaging before and during surgery, thereby obtaining the spatial position of the positioning target point during surgery; at the same time, the accurate positioning of the craniotomy can be achieved through the cooperation of the sleeve 12 and the support frame 13. Since imaging and craniotomy position positioning can be performed simultaneously, the application of the magnetic resonance-compatible surgical positioning assembly 100 can improve surgical accuracy, reduce the risk of surgical infection, and help shorten the operation time.

[0043] The magnetic field generating device 11 can be any device capable of generating a magnetic field and must be connected to a magnetic resonance imaging system. In this embodiment, the magnetic field generating device 11 is configured as a coil housing, comprising a lower housing 111 for supporting the patient's head and an upper housing 112 that covers the lower housing 111. The upper housing 112 and the lower housing 111 enclose a receiving cavity 113 for accommodating the patient's head. During surgery, the patient's head is inserted into the receiving cavity 113.

[0044] The support frame 13 includes a frame body 131 for supporting the pipe sleeve 12 and an angle adjustment frame 132 for supporting the frame body 131. Figure 2 As the reference perspective, a rectangular space coordinate system is established based on the space where the patient's head is located. Figure 2 The x-axis is defined as the width of the frame assembly 100, the y-axis is defined as the height of the frame assembly 100, and the z-axis is defined as the longitudinal direction of the frame assembly 100. In this embodiment, the frame 131 has two mounting ends 1311. These mounting ends 1311 are arranged along the width of the surgical positioning assembly 100, on either side of the magnetic field generating device 11. In this embodiment, the frame 131 has a generally arc-shaped structure. Assuming a patient lying flat on their back, with their head inserted into the magnetic field generating device 11 and their face facing upward, using the patient's head as a reference for the spherical model, a circle passing through the two ears is defined as the second circumferential direction of the head, and a circle perpendicular to the second circumferential direction is defined as the first circumferential direction of the head. Since the frame 131 is generally arc-shaped and its mounting ends 1311 are located on either side of the magnetic field generating device 11, the frame 131 can be defined as extending along the second circumferential direction of the head.

[0045] The frame 131 further includes an arcuate segment 1312 extending along the second circumferential direction of the head portion and a flattened segment 1313 extending rearward from both ends of the arcuate segment 1312. The mounting end 1311 is formed at the end of the flattened segment 1313. The sleeve 12 is mounted on the frame 131 and is movable on the frame 131. Specifically, the support frame 13 includes a positioning assembly 133 disposed on the frame 131. The sleeve 12 is mounted on the positioning assembly 133 and is movable on the frame 131. To ensure smooth movement of the positioning assembly 133, the positioning assembly 133 moves on the arcuate segment 1312 of the frame 131. The positioning assembly 133 and the arcuate segment 1312 can be assembled using various conventional methods in the prior art, such as connecting the positioning assemblies 133 via a sliding assembly to achieve sliding movement. In this embodiment, the frame 131 is provided with a movable groove 1314 extending along the second circumferential direction of the head, and the positioning component 133 is provided with a sliding member inserted into the movable groove 1314. Specifically: the frame 131 has a sheet-like body 1315 extending along the second circumferential direction of the head, and the movable groove 1314 is formed on the sheet-like body 1315. The positioning component 133 includes a buckle 1331 clamped on the sheet-like body 1315, and a fastening hole (not shown) is provided on the buckle 1331. The sliding member is a fastener that passes through the fastening hole and the movable groove 1314 in sequence.

[0046] The two ends of the frame 131 are respectively fixed by two angle adjustment brackets 132. The frame 131 can rotate relative to the angle adjustment brackets 132 to achieve movement of the frame 131 along the first circumferential direction of the head. To facilitate control of the adjustment angle of the bracket, an annular scale mark is formed on the outer end surface of the mounting end 1311. Corresponding scale reference marks are provided on the sheet-like bracket.

[0047] In this embodiment, the positioning assembly 133 cooperates with the frame 131 to enable the sleeve 12 to move along the first circumferential direction. By providing the angle adjustment frame 132, the frame 131 can move along the first circumferential direction. Since the sleeve 12 is provided on the frame 131, the movement of the frame 131 will cause the position of the sleeve 12 in the first circumferential direction to change. Therefore, the support frame 13 in this embodiment can enable the sleeve 12 to complete the transformation of two degrees of freedom. Of course, in addition to the change of two degrees of freedom, other support frames 13 can be used to achieve multiple degrees of freedom of the sleeve 12. In this embodiment, the support frame 13 also includes an automatic platform positioning assembly 134. The automatic platform positioning assembly 134 can realize automatic and precise implantation of electrodes, thereby completing precise fine-tuning and implantation of electrodes. The automatic platform positioning assembly 134 is mounted on the sliding member, and the sleeve 12 is mounted on the automatic platform positioning assembly 134.

[0048] To ensure greater precision and improve surgical efficiency, the patient's head generally needs to be secured during surgery to prevent movement or shaking due to external forces. Therefore, the surgical positioning assembly 100 also includes a head securing device 135 for securing the patient's head. In this embodiment, the head securing device 135 comprises two opposing clamping seats (not numbered) and abutting pins (not numbered) mounted on the clamping seats to secure the patient's head. The two abutting pins abut against opposite sides of the patient's head. When the patient lies flat, the two abutting pins are located near the upper part of the patient's ears. In this embodiment, to facilitate the operation of the abutting pins, the head securing device 135 is positioned outside the magnetic field generating device 11, on either side of the magnetic field generating device 11 in the width direction of the surgical positioning assembly 100. Windows (not numbered) are provided on either side of the magnetic field generating device 11 for the abutting pins 1352 to pass through.

[0049] To modularize the surgical positioning assembly 100 for easy mobile assembly and facilitate use with an MRI system, the surgical positioning assembly 100 of this embodiment further includes a base 14, to which the magnetic field generator 11, support frame 13, and head fixture 135 are secured. In practice, MRI systems generally include a nuclear magnetic resonance (NMR) couch. Therefore, when using the surgical positioning assembly 100, simply moving the base 14 allows assembly with the NMR system to be achieved. Because the surgical positioning assembly 100 includes the base 14, no additional fixtures are required to secure the magnetic field generator 11, support frame 13, and head fixture 135, and no changes are required to the design of the NMR couch. Furthermore, since the frame assembly 100 is essentially placed on the NMR couch, the provision of the base 14 also ensures a stable, rigid connection between the frame assembly 100 and the NMR couch, preventing shaking or displacement during surgery. In the aforementioned description, the support frame 13 is rotatable relative to the patient's head via the angle adjustment frame 132, thereby achieving one degree of freedom. In this embodiment, the support frame 13 performs translational motion relative to the patient's head to achieve a second degree of freedom. The base 14 includes two longitudinal extension frames 141 extending along the Z-axis and a transverse extension frame 142 connecting the two longitudinal extension frames 141. The support frame 13 is mounted on the longitudinal extension frames 141 and is movable relative to the longitudinal extension frames 141 along their longitudinal direction (the Z-axis).

[0050] See Figure 3 and Figure 4The structure of the surgical positioning assembly 200 of the third embodiment of the present invention is similar to that of the surgical positioning assembly 200 of the first embodiment, differing in the shape of the magnetic field generating device 21 and the structure of the support frame 23. In this embodiment, the shape of the magnetic field generating device 21 differs from that of the first embodiment only in appearance and size, and therefore will not be described in detail here. The support frame 23 of this embodiment is substantially similar to that of the first embodiment, and the first and second circumferential directions of this embodiment are defined in the same manner as those of the first embodiment. The first difference of the second embodiment is that the frame 231 includes a first sliding section 2311 and a second sliding section 2312 that can dock with the first sliding section 2311. The first sliding section 2311 and the second sliding section 2312 are both arc-shaped sections extending along the second circumferential direction. The positioning assembly 133 includes a first positioning assembly 2331 provided on the first sliding section 2311 and a second positioning assembly 2332 provided on the second sliding section 2312. In this embodiment, the frame 231 includes a fastener (not shown) connecting the first docking portion 2314 and the second sliding section 2312. In other embodiments, the first sliding section 2311 and the second sliding section 2312 can be dislocated and moved. See Figure 5 In the fourth embodiment, the first sliding section 3311 and the second sliding section 3312 are cantilever structures (only one end is fixed by an angle adjustment member). In this embodiment, since the first sliding section 3311 and the second sliding section 3312 are not connected and are relatively independent, the first sliding section 3311 is called the first sub-frame and the second sliding section 3312 is called the second sub-frame. The two angle adjustment members 332 are relatively arranged on both sides of the patient's head (not shown). By setting the frame into two cantilever structures (a first sub-frame and a second sub-frame), the first sub-frame and the second sub-frame can be moved to different positions in the first circumferential direction. This method can avoid positioning misalignment because, during a specific operation, the positions of the two positioning target points are no longer on the same circumference due to the person's lying posture, the position of the head, and the position of the brain tissue in the skull. Therefore, if the frame of the first embodiment is used, the frame itself cannot correct the deviation and needs to be corrected by other components (such as the automatic positioning component 133). However, if the frame of this embodiment is used, the frame itself can correct this deviation, which is more convenient to implement. In addition, if the frame is a two-stage frame, it is also convenient to manufacture the frame. Please refer to Figure 9In the sixth embodiment, the support frame includes two sub-frames 631, each sub-frame 631 having a first fixed end (unnumbered) and a second fixed end (unnumbered) arranged opposite to each other, the first fixed end and the second fixed end being arranged opposite to each other on both sides of the patient's head. In the present embodiment, the support frame also includes an angle adjustment frame, the angle adjustment frame including a first angle adjustment frame 6321 for installing the two first fixed ends and a second angle adjustment frame 6322 for installing the two second fixed ends. Both sub-frames 631 are rotated relative to the patient's head along the first circumferential direction through the angle adjustment frame. Of course, in other embodiments, multiple sub-frames can be provided according to actual conditions. In other embodiments, each sub-frame is supported by different angle adjustment frames.

[0051] Please combine again Figure 3 and Figure 4 In the third embodiment, the first sliding section 2311 and the second sliding section 2312 are both sheet-like bodies extending along the second circumferential direction, and the sliding member 233 is a clip fixed on the sheet-like body.

[0052] The angle adjustment frame 232 includes a base 2321 mounted on the base 24, a connecting ring 2322 mounted on the base 2321, a sleeve 2323 connecting the base 2321 and the connecting ring 2322, and a fastening knob 2324 mounted within the sleeve 2323. The base 2321 and the connecting ring 2322 are clamped between the fastening knob 2324 and the sleeve 2323. The sleeve 2323 passes through the base 2321 and the connecting ring 2322 in sequence. The fastening knob 2324 includes a rod portion (unnumbered) inserted into the sleeve 2323 and a knob portion (unnumbered) located at the end of the rod portion. A protruding rod 2325 is formed on the outer circumference of the connecting ring 2322 and is connected to the assembly portion 2313. The protruding rod 2325 is inserted into the assembly portion 2313. The angle adjustment frame 232 is used as follows: when it is necessary to adjust the frame body 231 to move along the first circumferential direction, loosen the tightening knob 2324 to reduce the clamping force of the tightening knob 2324 and the sleeve 2323 on the connecting ring 2322, so that when external force is applied to the frame body 231, the frame body 231 can be dragged to move along the first circumferential direction, that is, the frame body 231 is dragged to rotate relative to the base body 2321 with the sleeve 2323 as the rotating axis to achieve angle adjustment of the frame body 231; when the frame body 231 moves to the required position along the first circumferential direction, tighten the tightening knob 2324 to increase the clamping force of the tightening knob 2324 and the sleeve 2323 on the connecting ring 2322 to prevent the frame body 231 from rotating relative to the base body 2321 with the sleeve 2323 as the rotating axis. The portion where the base 2321 and the connecting ring 2322 meet is an annular housing 2328. A semicircular groove 2326 is formed inwardly within the annular housing 2328. A protruding rod 2325 is positioned within the semicircular groove 2326. The protruding rod 2325 can rotate within the semicircular groove 2326 along the circumference of the annular housing 2328. Stop walls 2327 are located on either side of the semicircular groove 2326 to limit the displacement of the protruding rod 2325. The annular housing 2328 also has a circle of arc-shaped scales located on one side of the semicircular groove to indicate the rotational displacement of the protruding rod 2325 (i.e., the adjustment angle of the bracket 231). The angle adjustment bracket 232 of this embodiment is more convenient to operate. The angle of the bracket 231 can be adjusted by simply loosening or tightening the knob 2324. The overall structure is simple.

[0053] In this embodiment, the head fixation device 235 includes a fixing hoop 2351 for securing the patient's head and a support frame 2352 for supporting the fixing hoop 2351. The fixing hoop 2351 includes a hoop body (not numbered) and abutting pins (not shown) disposed on the hoop body for supporting the patient's head. The support frame 2352 includes a hinged seat 2353 and a hinged block 2354 hinged to the hinged seat 2353. The fixing hoop 2351 is mounted on the hinged block 2354. The hinged block 2354 can move relative to the hinged seat 2353 to drive the fixing hoop 2351 toward or away from the patient's head to position the patient's head at a suitable angle. Compared to the second embodiment, the fixing hoop 2351 and support frame 2352 structure allows for adjustable patient placement, making it easier for the surgeon to find a suitable surgical position. However, in this method, since the fixing hoop 2351 is usually made of titanium alloy material, it has a certain impact on the nuclear magnetic resonance imaging, and the fixing hoop 2351 may block the nuclear mass imaging. If the solution of Example 2 is adopted, since the head is directly resting on the lower cover body, the head fixing device only fixes the two sides, so there will be no obstruction problem. In addition, since the head is directly resting on the lower cover body, the head fixing device only fixes the two sides, so the space required for the coil cover becomes smaller, and the span and radius of the arc of the frame are reduced relative to this embodiment. The reduced moving range of the sleeve facilitates positioning the position of the target point.

[0054] See Figure 6In addition to the head fixation devices described in Examples 2 and 3, the head fixation device may also have the following structure: the head fixation device 335 includes an arcuate hoop 3351, an arcuate pillow 3352 disposed on opposite sides of the patient's head relative to the arcuate hoop 3351, and two oppositely disposed fixing seats 3353. The ends of the arcuate hoop 3351 are respectively mounted on the two fixing seats 3353. In this embodiment, to secure the arcuate hoop 3351, the head fixation device 335 is further provided with a first pressing pin 3354. The first pressing pin 3354 is threadedly engaged with the fixing seat 3353 and passes through the fixing seat 3353 to press against the arcuate hoop 3351. To further secure the head, in this embodiment, the head fixation device 335 also includes a positioning piece 3355 and a first abutting pin 3356 threadedly engaged with the positioning piece 3355. The curved hoop 3351 includes an opening 3357 through which the first abutting pin 3356 passes to abut the patient's head. During installation, the positioning piece 3355 is placed on the curved hoop 3351, and the first abutting pin 3356 passes through the positioning piece 3355 and the opening 3357 to abut the patient's head. When the patient lies flat, the first abutting pin 3354 is positioned near the patient's brow bone. The curved pillow 3352 is positioned below the head relative to the curved hoop 3351. To facilitate securing the curved pillow 3352, a mounting opening for accommodating the curved pillow 3352 can be provided on the lower housing.

[0055] See Figure 7 and Figure 8 The support frame 43 of the surgical positioning assembly of this fifth embodiment includes a frame body 431 for supporting the sleeve 42 and an angle adjustment frame 432 for supporting the frame body 431. The frame body 431 has an arcuate segment extending along the first circumferential direction of the head. The arcuate segment is provided with a movable groove 4314 extending along the first circumferential direction of the head. Specifically, the frame body 431 includes a first sheet-like body 4311 extending along the first circumferential direction of the head and a second sheet-like body 4312 covering the first sheet-like body 4311. The sliding member is clamped between the first sheet-like body 4311 and the second sheet-like body 4312. The movable groove 4314 is formed by the first sheet-like body 4311 and the second sheet-like body 4312.

[0056] The angle adjustment frame 432 includes a base 4321 mounted on the base 44, a connecting ring 4322 mounted on the base 4321, a sleeve 4323 connecting the base 4321 and the connecting ring 4322, a fastening knob 4324 mounted within the sleeve 4323, and a sliding stopper sleeve 4325 mounted on the fastening knob 4324. The base 4321, the connecting ring 4322, and the sliding stopper sleeve 4325 are sequentially clamped between the sleeve 4323 and the fastening knob 4324. The sleeve 4323 passes through the base 4321, the connecting ring 4322, and the sliding stopper sleeve 4325 in sequence. The fastening knob 4324 includes a rod portion (not numbered) inserted into the sleeve 4323 and a knob portion (not numbered) located at the tip of the rod portion. The seat body 4321 has an axial hole 4326 through which the shaft sleeve 4323 passes. An inner limiting groove (not numbered) is formed in the axial hole 4326. The shaft sleeve 4323 is formed with a limiting protrusion 4327 that cooperates with the inner limiting groove. The cooperation between the limiting protrusion 4327 and the inner limiting groove restricts the shaft sleeve 4323 from rotating relative to the seat body 4321. A protruding rod 4328 is formed on the outer circumference of the connecting ring 4322 and is connected to the frame body 431. The protruding rod 4328 is connected to the frame body 431 via fasteners. The sliding limit sleeve 4325 includes a threaded engagement section 4325a that threads into the tightening knob 4324, and a limit pin 4325b extending in the opposite direction of the threaded engagement section 4325a. The connecting ring 4322 is formed with a plurality of latch holes 4329. In this embodiment, the plurality of latch holes 4329 are connected to form an arc-shaped hole cluster. The limit pin 4325b is inserted into one of the latch holes 4329 to limit the rotation of the frame 431 relative to the angle adjustment frame. The angle adjustment frame 432 is used as follows: first, loosen the tightening knob 4324, then remove the limit pin 4325b from the latch hole 4329. The frame 431 is rotated in a first circumferential direction to adjust to the desired angle. Finally, the limit pin 4325b is inserted into the corresponding latch hole 4329, and the tightening knob 4324 is tightened. Because the stop pin 4325b cooperates with the latch hole 4329, the frame 431 will not accidentally fall due to human error (such as not being locked) or external pressure, thereby increasing safety and helping to improve surgical accuracy. In addition, the support frame 43 in this embodiment can be mostly made of sheet metal, thus helping to save material.

[0057] In the above embodiments, it can be seen that the support frame can be a split structure, spliced, two coaxial sections and other different combinations. In addition, in the above embodiments, the frame body is generally arc-shaped, but in other embodiments not given, the frame body can also be any other shape, such as a rectangle. In the above embodiments, the support frame moves relative to the patient's head on the z-axis. In other embodiments not given, the direction of movement of the support frame relative to the patient's head can be set to move along the x-axis and / or y-axis, or in any other direction in the vertical coordinate space; in addition, it is also possible to achieve transformations in other degrees of freedom without moving relative to the patient's head (such as setting the support frame to a robotic arm that can move in at least two degrees of freedom, such as Figure 10 The mechanical arm 50 shown in the figure will be described later in the present invention. Figure 10 (The mechanical arm 50 shown is described in detail.) In other embodiments, all degrees of freedom transformations can be achieved by rotating the support frame relative to the patient's head in different circumferential directions. Of course, this embodiment only provides two degrees of freedom for position transformation. In other implementations, more than two degrees of freedom may be used.

[0058] See Figure 10 The robotic arm 50 includes a base arm 51, a cantilever 52 mounted on the base arm 51, and a clamping arm 53 mounted on the cantilever 52. The clamping arm 53 is used to mount surgical tools (not shown). The base arm 51 is a liftable structure driven by a lift motor 54. The cantilever 52 is a telescopic structure. The clamping arm 53 can rotate relative to the cantilever 52 and can also rotate on its own. In this embodiment, the rotation of the clamping arm 53 relative to the cantilever 52 is manually adjusted by a first adjustment button 55. The rotation of the clamping arm 53 is also manually adjusted by a second adjustment button 56. Of course, the clamping arm 53 and cantilever 52 can also be configured to automatically adjust via a motor. The robotic arm 50 can be fixed to a specific location to perform the surgery according to actual needs. In other embodiments, the robotic arm 50 can be configured with other structures to achieve movement in multiple degrees of freedom according to actual needs.

[0059] In this embodiment, the surgical positioning assembly further includes a base 60, which is disposed below the robotic arm 50. The robotic arm 50 is movable on the base 60. Specifically, the base 60 includes a first base 61 extending along the Z-axis and a second base 62 extending along the X-axis. The second base 62 is disposed above the first base 61 and is movable relative to the first base 61 along its longitudinal direction (moving along the Z-axis). The robotic arm 50 is disposed on the second base 62 and is movable relative to the second base 62 along its longitudinal direction (moving along the X-axis). A sliding assembly is disposed on the base 60 and a drive motor 63 that controls the sliding assembly is used to achieve automated control. The base 60 drives the robotic arm 50 to translate along the Z-axis and X-axis directions. Specifically, the first base 61 and the second base 62, as well as the second base 62 and the robotic arm 50, are connected via sliding assemblies, and the sliding assembly is controlled by the motor 63 to achieve automated control. In other embodiments, a lifting device may be provided on the base 60 to enable the robot arm 50 to move up and down (ie, move along the Y-axis direction).

[0060] In the aforementioned embodiments, the magnetic field generating device, the fixing device, and the support frame are all separate components and are integrated. In other embodiments not given, the magnetic field generating device, the fixing device, and the support frame are separately provided or integrated / integrated or two of them are integrated / integrated.

[0061] The surgical positioning assembly provided by the present invention has the following advantages: 1. It is compatible with MR; 2. It can accurately place the needle at any ideal position in the body, including the brain, chest, abdomen, limbs, etc.; 3. It allows surgical instruments of different diameters to be carried; 4. It minimizes the morbidity and mortality of surgery; 5. It improves the success rate of the procedure being performed; 6. It allows use in patients of all ages, including infants.

[0062] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A surgical positioning assembly for placing a surgical tool at a desired position on a patient's body, characterized in that: The surgical positioning assembly comprises at least a support frame for supporting surgical tools and a base below the support frame, wherein the support frame can move in at least two degrees of freedom relative to a desired position of the patient's body; The support frame includes a frame body for supporting surgical tools and an angle adjustment frame for supporting the frame body, and mounting ends are provided at both ends of the frame body, and each mounting end is fixed by the angle adjustment frame; The angle adjustment frame is used to drive the frame to rotate along a first circumferential direction; The angle adjustment frame includes a seat body mounted on the base, a connecting ring mounted on the seat body, a shaft sleeve connecting the seat body and the connecting ring, and a fastening knob mounted in the shaft sleeve, wherein the seat body and the connecting ring are clamped between the fastening knob and the shaft sleeve; A convex rod is formed on the outer circle of the connecting ring, and the convex rod is plugged into the installation end of the frame; The frame includes a first sliding section and a second sliding section docking with the first sliding section, the first sliding section and the second sliding section are both arc-shaped sections extending along the second circumferential direction; the first sliding section and the second sliding section can be displaced and moved; The second circumferential direction is perpendicular to the first circumferential direction.

2. The surgical positioning assembly according to claim 1, wherein: The support frame can rotate relative to the desired position of the patient's body along at least one circumferential direction; And / or, the support frame can perform translational movement relative to a desired position of the patient's body.

3. The surgical positioning assembly according to claim 1, wherein: The support frame includes at least two sub-frames, and the at least two sub-frames rotate along a first circumferential direction relative to a desired position of the patient's body.

4. The surgical positioning assembly according to claim 3, wherein: At least two of the sub-frames perform same-direction or counter-directional rotational motion along a first circumferential direction relative to a desired position of the patient's body.

5. The surgical positioning assembly according to claim 4, wherein: The two sub-frames include a first sub-frame and a second sub-frame, and the first sub-frame and the second sub-frame are both cantilever structures; the first sub-frame and the second sub-frame are relatively arranged on both sides of the desired position of the patient's body.

6. The surgical positioning assembly according to claim 3, wherein: Each of the sub-frames has a first fixed end and a second fixed end that are oppositely arranged, and the first fixed end and the second fixed end are oppositely arranged on both sides of a desired position of the patient's body.

7. The surgical positioning assembly according to claim 1, wherein: The rotation center of the frame coincides with the midpoint of the vertical scanning baseline and the transverse scanning baseline of the nuclear magnetic resonance system.

8. The surgical positioning assembly according to any one of claims 1 to 7, characterized in that: The support frame includes a frame body for mounting the surgical tool and / or enabling the surgical tool to move thereon.

9. The surgical positioning assembly according to claim 1 or 2, wherein: The surgical positioning assembly further includes a base, which is disposed below the support frame, and the support frame is movable on the base.

10. The surgical positioning assembly according to claim 1, wherein: The surgical positioning assembly also includes a coil used during imaging.

11. The surgical positioning assembly according to claim 1, wherein: The surgical positioning component coil is fixed on the surgical positioning component and is fixed in the desired position of the patient's body.

12. The surgical positioning assembly according to claim 1, wherein: The surgical positioning assembly further includes a fixing device for fixing the patient's body in a desired position.

13. The surgical positioning assembly according to claim 12, wherein: The fixation device includes a retaining pin that abuts against a desired location on the patient's body.

14. A surgical positioning assembly, characterized in that: The device comprises a magnetic field generating device for generating a magnetic field at least at a portion of a desired location on the patient's body, a support frame for supporting a surgical tool near the desired location on the patient's body, and a base below the support frame, wherein the support frame moves relative to the desired location on the patient's body; The support frame includes a frame body for supporting surgical tools and an angle adjustment frame for supporting the frame body, and mounting ends are provided at both ends of the frame body, and each mounting end is fixed by the angle adjustment frame; The angle adjustment frame is used to drive the frame to rotate along a first circumferential direction; The angle adjustment frame includes a seat body mounted on the base, a connecting ring mounted on the seat body, a shaft sleeve connecting the seat body and the connecting ring, and a fastening knob mounted in the shaft sleeve, wherein the seat body and the connecting ring are clamped between the fastening knob and the shaft sleeve; The two ends of the frame are provided with mounting ends; a convex rod is formed on the outer circle of the connecting ring, and the convex rod is plugged into the mounting end of the frame; The frame includes a first sliding section and a second sliding section docking with the first sliding section, the first sliding section and the second sliding section are both arc-shaped sections extending along the second circumferential direction; the first sliding section and the second sliding section can be displaced and moved; The second circumferential direction is perpendicular to the first circumferential direction.

15. The surgical positioning assembly according to claim 14, wherein: The surgical positioning assembly further includes a fixing device for fixing the patient's body in a desired position.

16. The surgical positioning assembly according to claim 15, wherein: The fixation device includes a retaining pin that abuts against a desired location on the patient's body.

17. The surgical positioning assembly according to claim 14, wherein: The desired position of the patient's body is the patient's head.

18. A magnetic resonance compatible surgical navigation system, characterized in that: The method comprises the surgical positioning assembly according to any one of claims 1 to 17.

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