Surgical apparatus, readable storage medium, electronic device, and surgical robot system

Abstract

The present application relates to a kind of surgical equipment, readable storage medium, electronic equipment and surgical robot system;Surgical equipment includes: fixed track being set on the roof in operating room;And at least one surgical device, each surgical device includes suspension device, driving device and medical device, suspension device is connected with medical device, fixed track and driving device respectively, driving device is used to drive suspension device to drive medical device moves along fixed track;Readable storage medium has program, when program is run, preoperative position control instruction is output to surgical equipment;Surgical device is used to move to target position along fixed track according to received preoperative position control instruction, and adjust to target attitude, to complete preoperative position.The present application makes surgical equipment itself can complete preoperative position, and position is more accurate and reliable, reduces preoperative position difficulty, improves preoperative position efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a surgical device, a readable storage medium, an electronic device and a surgical robot system. BACKGROUND

[0002] In robot-assisted surgery, commonly used surgical devices such as mechanical arms, navigation systems, control devices, medical imaging devices, etc. are placed on multiple independent trolleys, all of which are placed on the ground around the operating bed, and are connected by communication cables. However, the trolleys are large in size and occupy a large area, which will affect the movement range of the surgical devices, and the surgical devices will be affected by the flatness of the operating room floor and obstacles, ultimately affecting the surgical operation. In addition, the communication connection lines between the trolleys are laid on the ground, which poses a certain safety hazard. Not only that, but the preoperative placement and pose adjustment of all surgical devices are manually completed by medical staff according to the requirements of the operation, which not only takes time and effort, but also is prone to inaccurate placement, and requires medical staff to have rich experience, sometimes requiring multiple adjustments, low placement efficiency, and greatly increasing the preoperative preparation time. SUMMARY

[0003] The purpose of the present application is to provide a surgical device, a readable storage medium, an electronic device and a surgical robot system, which cancels the trolley, reduces the floor space occupied by the equipment in the operating room, eliminates the influence of the flatness of the operating room floor on the equipment, and also facilitates the cancellation of the ground wiring, eliminates safety hazards, and can realize the automatic preoperative placement of the surgical equipment, which is more accurate and reliable, reduces the difficulty of preoperative placement, and improves the efficiency of preoperative placement.

[0004] To achieve at least one of the above purposes, according to a first aspect of the present application, a surgical device is provided, comprising:

[0005] a fixed track arranged on the roof of the operating room; and

[0006] at least one surgical device, each of the surgical devices comprising a suspension device, a driving device and a medical device, the suspension device being connected with the medical device, the fixed track and the driving device respectively, the driving device being used to drive the suspension device to move the medical device along the fixed track;

[0007] The surgical device is further configured to move to a target position along the fixed track according to the received preoperative placement control instruction, and adjust to a target attitude to complete the preoperative placement.

[0008] In one embodiment, the surgical equipment also includes a first detection device for capturing images within the operating room. The first detection device is disposed on the roof and / or the side wall within the operating room. The first detection device is used to send the captured images within the operating room to a control device.

[0009] In one embodiment, the surgical equipment further includes a second detection device for collecting the position and posture of the surgical device, and the second detection device is arranged on the fixed track and / or the surgical device, and the second detection device is used to send the collected position and posture of the surgical device to the control device.

[0010] In one embodiment, the medical device includes a robotic arm and a surgical instrument, the proximal end of the robotic arm is connected to the suspension device, and the distal end of the robotic arm is detachably connected to the surgical instrument via a quick-connect interface, and the quick-connect interface is configured to be adaptable to a variety of surgical instruments.

[0011] In one embodiment, the surgical instrument is one of an orthopedic guide surgical tool, a power surgical tool, a laparoscopic surgical tool, a puncture catheter surgical tool, and a vascular intervention propulsion device.

[0012] In one embodiment, the medical device includes a robotic arm and a medical auxiliary device, the proximal end of the robotic arm is connected to the suspension device, the distal end of the robotic arm or any position between the proximal and distal ends is connected to the medical auxiliary device, and one or more medical auxiliary devices are connected to the robotic arm.

[0013] In one embodiment, the medical auxiliary device is one of a display, a navigation system and a medical imaging device.

[0014] In one embodiment, the fixed track includes a main track provided in a central area of ​​the operating room, and the main track is provided around the operating table.

[0015] In one embodiment, the number of the main rails is one or more; when the number of the main rails is multiple, the multiple main rails are arranged in a predetermined manner, and at least some adjacent main rails are connected by transition rails, and the transition rails are movably or immovably connected to the main rails.

[0016] In one embodiment, the fixed track also includes a branch track capable of docking with the main track, and the branch track is arranged in the storage area, wherein when the surgical device is not in use, it moves along the fixed track to the storage area corresponding to the branch track, and the storage area avoids the central area of ​​the operating room.

[0017] In an embodiment, the surgical device further comprises a moving track, the suspension device is connected with the fixed track through the moving track, and the moving track is driven to move along the fixed track by the driving device.

[0018] To achieve at least one of the above objects, according to a second aspect of the present application, there is provided a readable storage medium storing a program, when the program is executed, the following steps are performed:

[0019] The preoperative positioning control instruction is output to any of the surgical devices, so that the surgical device drives the surgical device to move to a target position along the fixed track and adjust to a target posture according to the received preoperative positioning control instruction, so as to complete preoperative positioning.

[0020] In an embodiment, the preoperative positioning control instruction comprises a target position and a target posture of preoperative positioning and a target motion path, so that the surgical device drives the surgical device to move to the target position along the target motion path and adjust to the target posture.

[0021] In an embodiment, the target motion path is determined according to the spatial position of the surgical target part and the maximum motion range of the surgical device, and the maximum motion range is determined according to the spatial position of all obstacles in the operating room and the motion range of the surgical device itself.

[0022] In an embodiment, the step of determining the maximum motion range comprises: first determining a safety boundary corresponding to each obstacle according to the spatial position of all obstacles, and then determining the maximum motion range of the surgical device according to the motion range of the surgical device itself and the safety boundary.

[0023] In an embodiment, the step of determining the safety boundary of the obstacle comprises:

[0024] According to the image of all obstacles in the operating room collected by the first detection device on the surgical device, the spatial position of all obstacles is identified, and the safety boundary of each obstacle is determined according to the spatial position of all obstacles.

[0025] To achieve at least one of the above objects, according to a third aspect of the present application, there is provided an electronic device comprising a processor and a memory, the memory comprising any of the readable storage medium, the readable storage medium storing a program for being executed by the processor.

[0026] In order to achieve at least one of the above-mentioned purposes, according to the fourth aspect of the present invention, a surgical robot system is provided, which includes a control device and any one of the surgical devices described above, the control device includes a processor and any one of the readable storage media described above; the processor is used to run the program in the readable storage medium to output preoperative positioning control instructions; the surgical device is used to drive the surgical device along the fixed track to the target position according to the received preoperative positioning control instructions, and adjust to the target posture to complete the preoperative positioning.

[0027] In one embodiment, the control device is disposed on the floor of the operating room, and the surgical apparatus is connected to the control device via a cable, which is routed along the roof and walls of the operating room.

[0028] In the surgical equipment, readable storage medium, electronic device and surgical robot system provided by the present invention, the surgical equipment includes: a fixed track arranged on the roof of the operating room; and at least one surgical device, each of the surgical devices includes a suspension device, a driving device and a medical device, the suspension device is respectively connected to the medical device, the fixed track and the driving device, and the driving device is used to drive the suspension device to drive the medical device to move along the fixed track; the readable storage medium stores a program, and when the program is run, it outputs a preoperative positioning control instruction to the surgical equipment; the surgical device is used to move to the target position along the fixed track according to the received preoperative positioning control instruction, and adjust to the target posture to complete the preoperative positioning.

[0029] When configured in this way, medical devices (such as robotic arms, navigation systems, displays, medical imaging equipment, etc.) can be connected to fixed tracks on the ceiling (i.e., the roof) of the operating room through a suspension device, eliminating the impact of the flatness of the operating room floor and obstacles on the operation, and eliminating various large trolleys, freeing up space in the operating room, which can effectively increase the movement space of surgical equipment. In particular, the surgical equipment can be controlled by preoperative positioning control instructions to complete the preoperative positioning by itself, which makes the positioning more accurate and reliable, reduces the difficulty of preoperative positioning, and improves the efficiency of preoperative positioning, thereby effectively shortening the preoperative preparation time and improving the efficiency of surgery. In addition, the communication cable between the control device and the surgical equipment can be routed in the form of suspension under the ceiling or concealed routing on the ceiling, thereby eliminating the safety hazards of laying cables on the floor of the operating room. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The features, properties and advantages of the implementation method of the present invention and related embodiments will be described with reference to the following drawings, in which:

[0031] Figure 1 is a front view of a surgical robot system in a preferred embodiment of the present invention;

[0032] Figure 2 yes Figure 1 A top view of the surgical robot system in FIG.

[0033] Figure 3 yes Figure 1 and Figure 2 Schematic diagram of the surgical robot system with surgical devices stored in the storage area;

[0034] Figure 4 is a top view of a first detection device in a preferred embodiment of the present invention collecting images in the operating room for obstacle identification and safety boundary setting;

[0035] Figure 5 It is a main view of a first detection device in a preferred embodiment of the present invention collecting images in the operating room for obstacle identification and safety boundary setting;

[0036] Figure 6 is a front view of a surgical robot system in another preferred embodiment of the present invention;

[0037] Figure 7 yes Figure 6 A top view of the surgical robot system in FIG.

[0038] Figure 8 yes Figure 6 and Figure 7 Schematic diagram of the surgical robot system with surgical devices stored in the storage area;

[0039] Figure 9 is a schematic diagram of a suspension device lifting in a preferred embodiment of the present invention;

[0040] Figure 10 is a schematic diagram of the descent of a suspension device in a preferred embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram of the principle of implementing automatic preoperative positioning in a preferred embodiment of the present invention;

[0042] Figure 12 is a schematic diagram of an orthopedic surgical tool connected to the distal end of a robotic arm via a quick-connect interface in a preferred embodiment of the present invention;

[0043] Figure 13 is a schematic diagram of a powered surgical tool connected to the distal end of a robotic arm via a quick-connect interface in a preferred embodiment of the present invention;

[0044] Figure 14 is a schematic diagram of a laparoscopic surgical tool connected to the distal end of a robotic arm via a quick-connect interface in a preferred embodiment of the present invention;

[0045] Figure 15Schematic diagram of a puncture catheter surgical tool connected to the distal end of a robotic arm via a quick-connect interface in a preferred embodiment of the present invention;

[0046] Figure 16 This is a schematic diagram showing a vascular intervention propulsion device in a preferred embodiment of the present invention connected to the distal end of a robotic arm via a quick-connect interface. DETAILED DESCRIPTION

[0047] To make the objects, advantages, and features of the present invention more clearly apparent, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale. They are only used to conveniently and clearly assist in illustrating the purposes of the embodiments of the present invention. In addition, the structures shown in the drawings are often part of the actual structure. In particular, different drawings may need to illustrate different focuses and sometimes use different scales.

[0048] As used in the present invention, the singular forms "a", "an", and "the" include plural objects, the term "or" is generally used in a sense that includes "and / or", the term "several" is generally used in a sense that includes "at least one", and the term "at least two" is generally used in a sense that includes "two or more". In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only the endpoints. The terms "proximal end" and "distal end" are defined herein with respect to the surgical robot system, and the terms "end" or "distal end" generally refer to the end close to the patient, and "proximal end" is the end away from the patient. In addition, as used in the present invention, "installed", "connected", "connected", and one element is "set" on another element should be understood in a broad sense, usually only indicating that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements can be direct or indirect through an intermediate element, and cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content clearly indicates otherwise. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used relative to the exemplary embodiments as they are shown in the figures, with the upward or upper direction toward the top of the corresponding figure, and the downward or lower direction toward the bottom of the corresponding figure.

[0049] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments. In the absence of conflict, the following embodiments and features in the embodiments may complement or be combined with each other.

[0050] Please refer to Figures 1-2 A preferred embodiment of the present invention provides a surgical robot system, which includes a control device 13 and a surgical device; the surgical device includes a fixed track 15 and at least one surgical device; the fixed track 15 is arranged on the roof 9 in the operating room (i.e., the top surface in the operating room); each of the surgical devices includes a driving device 11, a suspension device 14 and a medical device; the suspension device 14 is respectively connected to the medical device, the fixed track 15 and the driving device 11, and the driving device 11 is used to drive the suspension device 14 to drive the medical device to move along the fixed track 15; the surgical device is also configured to move to the target position along the fixed track 15 according to the received preoperative positioning control instruction, and adjust to the target posture to complete the preoperative positioning.

[0051] The control device 13 includes a processor and a readable storage medium, and the processor is used to run the program in the readable storage medium to output the preoperative positioning control instruction; when the program in the readable storage medium is run, the following steps are performed: outputting the preoperative positioning control instruction to the surgical device, so that the surgical device drives the surgical device to move to the target position along the fixed track 15 and adjust to the target posture according to the received preoperative positioning control instruction to complete the preoperative positioning.

[0052] The present invention imposes no specific requirements on the placement of the control device 13. For example, it can be placed on the operating room floor 10, on a wall within the operating room, or outside the operating room, in the same hospital or different hospitals, in the same city or different cities, etc. In other words, the control device 13 can be a remote control device or a proximal control device. The control device 13 is in communication with the surgical device, enabling the surgical device to move along the fixed track 15 to a target position and adjust to a target posture according to received preoperative positioning control instructions. It will be understood that preoperative positioning includes moving the surgical device to the target position and adjusting the surgical device to the target posture. This configuration eliminates the impact of operating room floor flatness and obstacles on the surgical procedure. It also eliminates the need for bulky trolleys, freeing up space within the operating room and effectively increasing the movement space for the surgical device. In particular, the preoperative positioning control instructions allow the surgical device to automatically complete preoperative positioning, making positioning more accurate and reliable, reducing the difficulty of preoperative positioning, and improving preoperative positioning efficiency, thereby effectively shortening preoperative preparation time and enhancing surgical efficiency. In addition, the communication cable between the control device 13 and the surgical equipment can be laid in a suspended manner under the ceiling or concealed on the ceiling, thereby eliminating the safety hazard of laying cables on the floor of the operating room.

[0053] It should also be understood that preoperative positioning is a prerequisite for robotic minimally invasive surgery, and the accuracy of positioning will directly affect the accuracy of surgical operations. Preoperative positioning is traditionally performed manually by medical staff entering the operating room. However, the present invention automatically completes preoperative positioning by the surgical robot system itself, and places the surgical device in a preoperative positioning state by performing preoperative positioning operations on the surgical device; the preoperative positioning operation includes adjusting the surgical device so that the surgical device is configured to a suitable position and posture (such as the posture when the working space of the robotic arm 8 is the largest); further, the preoperative positioning operation of the surgical device may also include the surgical instrument 6 being mounted on the robotic arm 8, and the end of the surgical instrument 6 being inserted into the patient's body through an incision on the patient's surface, as well as other surgical preparations; further, the preoperative positioning operation of the surgical device may also include adjusting the surgical device so that the surgical device (such as medical imaging equipment) is configured to move from the storage area to the working area for standby. The surgical robot system can only enter the surgical state after completing the preoperative positioning. When the surgical robot system is in an operating state, the operator (such as a doctor) can control the surgical robot system to complete the surgical operation.

[0054] In one embodiment, the preoperative positioning control instruction includes the target position and target posture of the preoperative positioning and the target motion path, so that the surgical equipment drives the surgical device to move to the target position along the target motion path and adjust to the target posture. Furthermore, the target motion path is determined based on the spatial position of the surgical target part and the maximum motion range of the surgical device, and the maximum motion range is determined based on the spatial position of all obstacles in the operating room and the motion range of the surgical device itself. The spatial position includes position and posture, and the maximum motion range is the effective operating space of the surgical device when there is no interference or collision in the operating room. At this time, the surgical robot system of the present invention can automatically identify obstacles in the operating room, so that the surgical device can effectively avoid obstacles during movement, thereby improving the safety and reliability of preoperative positioning.

[0055] In one embodiment, the maximum range of motion of the surgical device is determined by the control device 13 based on the spatial positions of all obstacles within the operating room and the range of motion of the surgical device itself. It should be understood that obstacles include people and objects within the operating room. People include all medical staff, and objects include structures and equipment on the operating room floor. The range of motion of the surgical device itself can be understood as the range defined by the fixed track 15 and the device's configuration. Therefore, during preoperative positioning, obstacles within the operating room are also taken into account, allowing the surgical device to safely avoid these obstacles during preoperative positioning, thereby improving safety. Furthermore, it should be understood that the spatial position of obstacles can be updated at any time. Even if an obstacle moves, the current spatial position of the obstacle can be identified, allowing the surgical device to avoid obstacles at all times during preoperative positioning, thereby improving safety.

[0056] In one embodiment, when determining the maximum range of motion of the surgical device, the control device 13 first determines a safety margin (surrounding the obstacle) corresponding to each obstacle based on the spatial position of all obstacles. The size of the safety margin is generally larger than the actual size of the obstacle to reserve a certain margin. Then, based on the range of motion of the surgical device itself and the safety margin, the maximum range of motion of the surgical device within the operating room is determined. The maximum range of motion is the space available for the surgical device to move while avoiding all obstacles on the floor of the operating room. The establishment of a safety margin further improves the reliability and safety of preoperative positioning.

[0057] The present invention does not impose any specific restrictions on the size of the safety margin; it can be slightly larger than the actual size of the obstacle. For example, in one embodiment, all obstacles within the operating room are imaged, and a safety margin is determined based on the imaged obstacles. During subsequent preoperative positioning control, the preoperative positioning movement of the surgical device is controlled based on the safety margin. Those skilled in the art will understand how to set a safety margin based on existing technology, such as using artificial intelligence technology to process images and set a safety margin. This application does not further explain this.

[0058] It can be understood that once the movement space of the surgical device in the operating room is determined, the target position and target posture of the surgical device before surgery can be determined according to the current surgical requirements (including the patient's surgical site information, surgical procedure information, selected equipment, etc.), and then the target movement path can be planned.

[0059] The surgical equipment may include a first detection device 2 mounted on the ceiling and / or side walls of the operating room. The first detection device 2 is communicatively connected to a control device 13. The first detection device 2 is configured to capture images of the operating room, including images of all obstacles within the operating room, and transmit the captured images to the control device 13. The control device 13 is configured to identify the spatial positions of all obstacles within the operating room based on the images captured by the first detection device 2, and to determine the safety boundaries of each obstacle based on the spatial positions of all obstacles. The structure of the first detection device 2 is not limited; for example, infrared imaging, stereo imaging using a CCD or CMOS camera, stereo vision imaging, Time of Flight imaging, millimeter wave imaging, laser imaging, or ultrasonic radar imaging may be employed. The number of first detection devices 2 is also not specifically limited, as long as the imaging range can cover the entire operating room space. In this embodiment, multiple first detection devices 2 are provided, each mounted in a corner of the operating room and on the roof 9.

[0060] The surgical apparatus may further include a second detection device disposed on the fixed rail 15 and / or the surgical device. The second detection device is configured to acquire the position and posture of the surgical device and transmit the acquired position and posture of the surgical device to the control device 13. There are no specific requirements for the structure of the second detection device, and the second detection device may be any detection device capable of acquiring spatial position and / or posture, such as a displacement sensor or an angle sensor.

[0061] The present invention does not specifically limit the type of medical device described. In actual use, the required medical device is selected based on the surgical requirements. In some embodiments, the surgical equipment includes multiple independently movable surgical devices, with the same or different structures, so that multiple sets of surgical devices can be used to perform a surgical operation together.

[0062] In some embodiments, the medical device includes a robotic arm 8 and a surgical instrument 6. The proximal end of the robotic arm 8 is connected to the suspension device 14, and the distal end of the robotic arm 8 is detachably connected to the surgical instrument 6 via a quick-connect interface 803. The quick-connect interface 803 is configured to accommodate a variety of surgical instruments 6. For example, the surgical instrument 6 may be an oscillating saw, a guide, an electric drill, an acetabular rasp, a puncture needle, an ablation needle, an endoscope, an interventional delivery device, etc. Therefore, the surgical robot system of the present invention can be applied to a variety of surgeries, such as orthopedic surgery, puncture and ablation, endoscope-assisted surgery, and vascular intervention.

[0063] In some embodiments, the medical device includes a robotic arm 8 and a medical auxiliary device, the proximal end of the robotic arm 8 is connected to the suspension device 14, the distal end or middle position of the robotic arm 8 (i.e., any position of the distal end and proximal end of the robotic arm) is connected to the medical auxiliary device, and one or more of the medical auxiliary devices are arranged on the robotic arm 8. The medical auxiliary device is a device for assisting surgery, such as a navigation system 4, a display 3, a medical imaging device, etc. The medical imaging device includes but is not limited to a C-arm X-ray machine 1, and the function of the medical imaging device is to image the target site of surgery (such as bones, organs). The navigation system 4 includes but is not limited to an optical navigation system, and the function of the navigation system 4 is to track the position of the surgical instrument 6 in real time to guide the surgical operation. The display 3 can provide a 2D display mode or a 3D display mode, and can display information related to the surgery in real time, including but not limited to an image of the surgical field in the patient's body cavity.

[0064] However, the present invention does not impose any special restrictions on the number of robotic arms 8 in the surgical equipment, and an appropriate number of surgical devices and their robotic arms 8 can be configured according to surgical needs. There are no special requirements for the configuration and degree of freedom of the robotic arm 8. Generally, the robotic arm 8 is formed by connecting a robotic arm joint 801 and a robotic arm connecting rod 802 in sequence. A quick-connect interface 803 is preferably provided at the distal end of the robotic arm 8, and the quick-connect interface 803 can be connected to different surgical instruments 6. In addition, one robotic arm 8 can be connected to one or more identical or different medical devices. As in the present embodiment, the surgical equipment includes three sets of surgical devices, the medical devices in one set of surgical devices are surgical instruments 6, the medical devices in another set of surgical devices are X-ray machines 1, and another set of surgical devices includes a navigation system 4 and a display 3, wherein the display 3 is provided at the farthest end of the robotic arm 8, and the navigation system 4 is provided in the middle of the robotic arm 8 (which should not be understood as an absolute middle position).

[0065] Preferably, the suspension device 14 itself can rotate horizontally and / or move vertically to facilitate adjustment of the horizontal position and / or vertical height of the surgical device. The suspension device 14 can be composed of a rotating joint and / or a telescopic joint. The rotating joint can achieve horizontal rotation of the suspension device 14, and the telescopic joint can achieve vertical extension and retraction of the suspension device 14.

[0066] In one embodiment, the control device 13 is installed on the floor of the operating room. Furthermore, given the high risk of electromagnetic interference within the operating room, the surgical device and the control device 13 are connected via a cable 12 , which is routed along the roof 9 and walls of the operating room. Preferably, the cable 12 is laid within the roof 9 and walls of the operating room to prevent the cable 12 from being exposed, thereby further eliminating potential safety hazards.

[0067] The present invention does not limit the type of control device 13; it should possess strong data processing capabilities and, for example, can be configured as a computer workstation or other data processing system. The control device 13 serves as the control center for preoperative positioning, automatically completing preoperative positioning of surgical instruments based on the acquired information. The control device 13 can also be used for preoperative planning to improve the effectiveness and efficiency of surgery. In particular, preoperative planning can improve the accuracy of bone resection and implant placement, while reducing the total surgical time and the time the patient's wound is exposed. The control device 13 can integrate a preoperative planning module to create a three-dimensional model of the surgical target area based on acquired image data of the surgical target area, perform preoperative planning based on the three-dimensional model, and determine the surgical plan. The navigation system 4 can generate navigation instructions based on the surgical plan and control the corresponding robotic arm 8 to move the surgical instrument 6 to the target surgical position and posture according to the navigation instructions, so that the surgical instrument 6 can perform the surgical operation on the surgical target area. Of course, the control device 13 may also have other functions, which are not limited to these, such as intraoperative multi-device and multi-parameter monitoring and control, automated surgery, etc.

[0068] The control device 13 can be set as a master control device and a slave control device, and the slave control device is set outside the operating room, and the master control device is set outside the operating room. For example, the master control device is in different rooms, different hospitals, different cities, etc., so as to remotely monitor and control the surgical device through the master control device.

[0069] Figure 4 and Figure 5 A specific embodiment of using the first detection device 2 to identify obstacles and divide safety boundaries is shown.

[0070] like Figure 4 and Figure 5As shown, the first detection device 2 images the personnel (including medical staff 21 and patient 22) and fixed objects 23 (including the operating table 5 and other equipment and facilities, such as a surgical instrument trolley) within the operating room. The imaging range 20 can cover the entire space within the operating room, thereby acquiring images of all obstacles, including the fixed objects 23 and medical staff. The control device 13 then identifies the spatial positions of the fixed objects 23, medical staff 21, and patient 22 based on the images captured by the first detection device 2, and then sets a safety boundary for the fixed objects 23 and medical staff, such as a medical staff safety boundary 2101, a patient safety boundary 2201, and a fixed object safety boundary 2301, respectively. During the preoperative automatic positioning process, the control device 13 controls the motion equipment (including the suspension device 14 and medical devices) in the surgical robot system to avoid the protection zones within these safety boundaries during movement and not to infringe upon these protection zones, thereby avoiding collisions, injuries to medical staff, and damage to the surgical robot system itself. In addition, the control device 13 can also determine the spatial position of the patient's various limb parts (such as the head, chest, abdomen, left and right upper limbs, left and right lower limbs, etc.) based on the image of the patient 22 on the operating table 5 collected by the first detection device 2, and segment the images of the patient's various limb parts, and combine the surgical information entered in the preoperative planning (including surgical procedures, surgical sites, etc.) to finally determine the patient's target surgical area 2202 (i.e., the surgical target site).

[0071] Next, combine Figure 11 The following example further illustrates how the surgical robot system of the present invention realizes automatic positioning before surgery. Figure 11 As shown, the surgical robot system can achieve automatic preoperative positioning according to the following methods, including:

[0072] S1: Acquiring the position and posture of the surgical device; if a second detection device is provided on the fixed track and / or the driving device, the position and posture of the surgical device can be acquired based on the second detection device on these structures, and / or a second detection device is provided on the joints of the suspension device 14 and / or the joints of the robotic arm 8 to acquire the position and posture of the surgical device;

[0073] S2: collecting images in the operating room; for example, collecting images in the operating room by a plurality of first detection devices 2 on the roof 9;

[0074] S3: The control device 13 identifies the spatial position of the obstacle and the spatial position of each part of the patient's body based on the image acquired in S2, wherein the spatial position of each part of the patient's body includes the spatial position of the surgical target site, and sets safety boundaries for each of the identified obstacles;

[0075] S4: The control device 13 outputs preoperative positioning control instructions based on the surgical information in S5 (including information about the patient's surgical site, surgical procedure, required equipment and surgical instruments, and other preoperative planning information, which can be entered into the control device 13 by medical staff through an input device), as well as the information in S1 and S3. The preoperative positioning control instructions may include information required for preoperative positioning, such as the equipment and instruments required for the surgery, the target positions and postures of the equipment and instruments, and the target motion path of the preoperative positioning.

[0076] S6: Control device 13 activates the surgical instruments required for the procedure and controls their movement to the target position and posture according to the preoperative positioning control instructions, thereby completing the preoperative positioning. During this movement, each first detection device 2 monitors the spatial position of obstacles within the surgical environment in real time, enabling the surgical instruments to proactively avoid obstacles in real time and avoid infringing the safety boundaries between medical personnel and fixed objects.

[0077] In actual use, the control device 13 can schedule each surgical device to move along the fixed track 15 according to the needs of various surgeries and the working order of the surgical devices, so that some surgical devices move toward the spatial position of the surgical target site, and other surgical devices move away from the spatial position of the surgical target site.

[0078] The fixed track 15 is configured to include a main track located in the center of the operating room, which is arranged around the operating table 5. Furthermore, the main track can be a circular track or a non-circular track. There can be one or more main tracks. When there are multiple main tracks, the multiple main tracks are arranged in a predetermined manner, which can be a circular arrangement, a cross arrangement, a parallel arrangement, a random arrangement, etc., without specific limitation.

[0079] like Figure 2 and Figure 3As shown, in one embodiment, the fixed track 15 may include two annular main tracks arranged around the operating table 5, namely a first main track 1501 and a second main track 1502, with the first main track 1501 surrounding the second main track 1502. However, the number of annular main tracks is not limited to two. Furthermore, adjacent main tracks are connected by a transition track 1503 to facilitate the transfer of surgical equipment between the main tracks. The transition track 1503 may be fixedly or movably connected to the main track. When the transition track 1503 is movably connected to the main track, the transition track 1503 can adjust its position at any time to accommodate different transfer requirements. The number of transition tracks 1503 is not limited and may be one or more. The first detection device 2 is mounted on the ceiling 9 within the operating room, preferably outside the fixed track 15. The imaging range 20 of all first detection devices 2 covers the entire range of motion of the operating table 5 and all surgical equipment along the fixed track 15.

[0080] Continue reading Figure 2 and Figure 3 The surgical equipment also includes a storage area 16 connected to the fixed track 15. When the surgical device is not in use, it moves along the fixed track 15 to the storage area 16, which is away from the center of the operating room. Conversely, when the surgical device is in use, it moves from the storage area 16 to the center of the operating room. The center of the operating room refers to the area surrounding the operating table 5.

[0081] In one embodiment, the fixed track 15 further includes a branch track 1504 capable of docking with the main track, and the branch track 1504 is arranged in the storage area 16. When the surgical device is not in use, it moves along the fixed track 15 to the storage area 16 corresponding to the branch track 1504. That is, medical devices that are not used during surgery can be stored in the storage area 16, thereby freeing up the area next to the operating table 5 and not occupying the central area of ​​the operating room. When these medical devices are needed, they can be moved along the branch track 1504 and the main track to the side of the operating table 5. Any main track can extend at least one branch track 1504. For example, in this embodiment, the first main track 1501 of the outer ring extends out of the branch track 1504. Of course, in other embodiments, the second main track 1502 of the inner ring can also extend out of the branch track 1504.

[0082] In some embodiments, the suspension device 14 is directly driven by the driving device 11 to move along the fixed track 15, for example Figures 1 to 5In other embodiments, the surgical device further includes a movable rail 30', the suspension device 14 can be first connected to the movable rail 30', and the movable rail 40 is connected to the fixed rail 30 of another structure, so that the driving device 11 directly drives the movable rail 30' to move along the fixed rail 30, so that the movable rail 30' acts as a movable joint to drive the suspension device 14 to move, as shown. Figures 6 to 8 shown.

[0083] An exemplary embodiment of the above moving track 30' can be found in Figures 6-8 .like Figures 6 to 8 As shown, the annular fixed track 15 can be replaced by a non-annular fixed track 30. However, there is no particular requirement for the shape of the non-annular fixed track 30, and it can be linear, arc-shaped, or curved. The fixed track 30 can include one or more non-annular main tracks. The distribution of the main tracks is not limited and can be arranged in various ways, such as regular or random. When arranged, they can be arranged in parallel and / or cross-arranged. Preferably, the non-annular main tracks are located on two opposite sides of the operating table 5 to surround the central surgical area.

[0084] Taking two as an example, the fixed rail 30 includes a first main rail 3001 and a second main rail 3002 arranged in parallel. From a vertical direction, the two main rails are located on two opposite sides of the operating table 5, and the two main rails are connected to at least one movable rail 30'; in one embodiment, the number of the movable rails 30' is two, namely the first movable rail 3004 and the second movable rail 3005, and the first movable rail 3004 and the second movable rail 3005 are movably connected to the first main rail 3001 and the second main rail 3002 respectively, so that the first movable rail 3004 and the second movable rail 3005 can move along the first main rail 3001 and the second main rail 3002 respectively, and each movable rail can be loaded with one or more surgical devices.

[0085] See Figure 7 and Figure 8 In one embodiment, the fixed track 30 further includes a branch track 3005 adjacent to the operating room, leading to the storage area 16 at the edge of the operating room. Both the first and second movable tracks 3004 and 3005 can interface with the branch track 3005, allowing surgical instruments on each movable track to be transferred between different main tracks. Surgical instruments not needed during surgery can be stored in the storage area 16, freeing up space near the operating table 5. When needed, these instruments can be moved along the rooftop fixed track 30 to the operating table 5.

[0086] Next reference Figure 9 and Figure 10In one embodiment, the medical device in the surgical device is a C-arm X-ray machine 1, and the suspension device 14 has a telescopic joint to lift and lower the robotic arm 8 and the X-ray machine 1 as needed. Figure 10 As shown, when the surgical device needs to be used, the telescopic joint in the suspension device 14 is extended to lower the robotic arm 8 and the C-arm X-ray machine 1; Figure 9 As shown, when the surgical device is not needed or is not moved, the telescopic joint in the suspension device 14 is shortened to lift the robotic arm 8 and the X-ray machine 1 to avoid ground obstacles (such as the operating table 5).

[0087] Next, combine Figures 12 to 16 , providing an exemplary description of the applicable scenarios of the surgical robot system of the present invention. It is understood that, in the surgical robot system of the present invention, the surgical instrument 6 held by the end of the robotic arm 8 via the quick-connect interface 803 can be easily and quickly replaced with a different surgical instrument to accommodate different surgical scenarios.

[0088] like Figure 12 As shown, in one embodiment, the surgical instrument 6 is an orthopedic guide surgical tool 201, which is connected to the distal end of the robotic arm 8 via a quick-connect interface 803 and can be used for osteotomy guidance in orthopedic surgery.

[0089] like Figure 13 As shown, in one embodiment, the surgical instrument 6 is a powered surgical tool 202, which is connected to the distal end of the robotic arm 8 via a quick-connect interface 803. The powered surgical tool 202 can be equipped with a saw blade, a drill bit, or a grinding head, and can be used for surgical operations such as osteotomy, drilling, and grinding.

[0090] like Figure 14 As shown, in another embodiment, the surgical instrument 6 is a laparoscopic surgical tool 203, which is connected to the distal end of the robotic arm 8 via a quick-connect interface 803. The laparoscopic surgical tool 203 can be an endoscope, surgical forceps, surgical scissors, energy instrument, stapler, etc.

[0091] like Figure 15 As shown, in another embodiment, the surgical instrument 6 is a puncture catheter surgical tool 204, which is connected to the distal end of the robotic arm 8 via a quick-connect interface 803. The puncture catheter surgical tool 204 can be used for puncture guidance.

[0092] like Figure 16 As shown, in other embodiments, the surgical instrument 6 is a vascular intervention propulsion device 205, which is connected to the distal end of the robotic arm 8 via a quick-connect interface 803. The vascular intervention propulsion device 205 can be used to deliver a guidewire catheter 2051.

[0093] Of course, the types of surgical instruments 6 include but are not limited to the several cases listed above. As those skilled in the art will appreciate, other types of surgical instruments 6 can also be connected to the distal end of the robotic arm 8 via the quick-connect interface 803. In addition, the suspension device 14 can be moved on the fixed track 15 or 30 via the drive device 11, and can be moved along the fixed track 15 or 30 to any position around the operating bed 5, and can be locked and fixed after reaching the designated position. The type of the drive device 11 is not limited, and an electric drive device can be used. In addition, after the operation is completed, the suspension device 14 of each device is retracted to the "recovery position", the height is raised away from the ground and the operating bed 5, and is moved along the fixed track 15 or 30 to the storage area 16 at the edge of the operating room.

[0094] Furthermore, an embodiment of the present invention also provides a readable storage medium storing a program, which performs the following steps when the program is run: outputting preoperative positioning control instructions to the surgical equipment, so that the surgical equipment drives the surgical device along the fixed track to the target position and adjusts to the target posture according to the received preoperative positioning control instructions to complete the preoperative positioning.

[0095] Furthermore, an embodiment of the present invention also provides an electronic device, including a processor and a memory, wherein the memory includes the readable storage medium, and the readable storage medium stores a program, and the program is used to be executed by the processor.

[0096] It should be understood that the present invention has no particular limitation on the type of processor. The processor may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0097] Likewise, the type of the memory is not particularly limited. The memory can be a non-volatile and / or volatile memory. The non-volatile memory can include a read only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a variable resistance memory (ReRAM), a phase change memory (PCRAM), or a flash memory. The volatile memory can include a random access memory (RAM), a register, or a cache. As an illustration but not a limitation, the RAM is available in various forms, such as a static RAM (SRAM), a dynamic RAM (DRAM), a synchronous DRAM (SDRAM), a double data rate SDRAM (DDR SDRAM), an enhanced SDRAM (ESDRAM), a Synchlink DRAM (SLDRAM), a Rambus direct RAM (RDRAM), a direct RAM bus dynamic RAM (DRDRAM), and a Rambus dynamic RAM (RDRAM), etc.

[0098] It should be understood that the type of the control device is not particularly limited, which can be a hardware performing logical operation, such as a single chip microcomputer, a microprocessor, a programmable logic controller (PLC) or a field programmable logic gate array (FPGA), or a software program, a functional module, a function, an object library or a dynamic-link library realizing the above functions on the basis of hardware, or a combination of the above two. Those skilled in the art should know how to realize the functions of the control device based on the disclosure of the present application.

[0099] In summary, the present invention connects the medical device to a fixed track on the roof of the operating room through a suspension device, eliminating the adverse effects of the operating room floor flatness, obstacles, etc. on the surgery, and eliminating various large trolleys, freeing up the operating room space and effectively increasing the movement space of the surgical equipment. In addition, the communication connection cables are laid on the roof of the operating room, eliminating the need to lay communication connection cables on the ground inside the operating room, eliminating safety hazards. In addition, the surgical device can automatically move to the desired position for surgery and complete posture adjustment along the track (circular track) that surrounds the operating table on the roof, without the need for manual placement, and complete preoperative equipment positioning in an efficient and adaptive manner. Secondly, the quick-connect interface at the far end of the robotic arm enables rapid assembly and disassembly of different surgical instruments, simplifies the assembly and disassembly process of surgical instruments, and makes the surgical robot system suitable for different application scenarios, with a wide range of applications. Furthermore, during preoperative positioning, the present invention does not require the installation of invasive targets on the patient, but instead uses non-invasive imaging technology to obtain the spatial position of various parts of the patient's body, effectively reducing harm to the patient. In particular, the present invention, when configured with a mobile track and combined with a suspension device, achieves a greater range of motion. Furthermore, position sensors and imaging sensors, coupled with the control device's spatial posture recognition, fixed object and medical personnel identification, enable automatic preoperative positioning and obstacle avoidance, providing enhanced safety. In particular, a dedicated storage area reduces the equipment's footprint within the operating room, effectively freeing up space and increasing operational space for equipment.

[0100] It should be noted that those skilled in the art can make several improvements and additions without departing from the method of the present invention, and these improvements and additions should also be considered as the scope of protection of the present invention. Any equivalent changes, modifications and evolutions made by those skilled in the art using the technical content disclosed above without departing from the spirit and scope of the present invention are all equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A surgical device, characterized in that: include: A fixed track installed on the roof of the operating room; as well as, At least one surgical device, each of which includes a suspension device, a drive device, and a medical device, wherein the suspension device is respectively connected to the medical device, the fixed track, and the drive device, the drive device is used to drive the suspension device to move the medical device along the fixed track, the suspension device itself can rotate horizontally and / or move up and down, and the medical device includes a robotic arm, the proximal end of which is connected to the suspension device; The surgical device is further configured to move to a target position along the fixed track according to a received preoperative positioning control instruction and adjust to a target posture to complete the preoperative positioning; The preoperative positioning control instruction includes a target position and a target posture of the preoperative positioning, as well as a target motion path. The surgical device moves to the target position along the target motion path and adjusts to the target posture. The target motion path is determined based on the spatial position of the surgical target site and the maximum motion range of the surgical device. The maximum motion range is determined based on the spatial position of all obstacles in the operating room and the motion range of the surgical device itself. The motion range of the surgical device itself is the motion range limited by the fixed track and the configuration of the surgical device itself.

2. The surgical device according to claim 1, wherein: It also includes a first detection device for collecting images inside the operating room, wherein the first detection device is arranged on the roof and / or the side wall inside the operating room, and the first detection device is used to send the collected images inside the operating room to a control device.

3. The surgical device according to claim 2, wherein: It also includes a second detection device for collecting the position and posture of the surgical device, the second detection device is arranged on the fixed track and / or the surgical device, and the first detection device is used to send the collected position and posture of the surgical device to the control device.

4. The surgical device according to claim 1, wherein: The medical device further comprises a surgical instrument, and the distal end of the robotic arm is detachably connected to the surgical instrument via a quick-connect interface, wherein the quick-connect interface is configured to be adaptable to a variety of surgical instruments.

5. The surgical device according to claim 4, characterized in that The surgical instrument is one of an orthopedic guide surgical tool, a laparoscopic surgical tool, a puncture catheter surgical tool and a vascular intervention propulsion device.

6. The surgical device according to claim 4, characterized in that The surgical instrument is a powered surgical tool.

7. The surgical device according to claim 1, wherein: The medical device further includes a medical auxiliary device, which is connected to the distal end of the robotic arm or any position between the proximal end and the distal end, and one or more medical auxiliary devices are connected to the robotic arm.

8. The surgical device according to claim 7, wherein: The medical auxiliary equipment is one of a display, a navigation system and a medical imaging device.

9. The surgical device according to claim 1, wherein: The fixed track includes a main track arranged in the central area of ​​the operating room, and the main track is arranged around the operating table.

10. The surgical device according to claim 9, characterized in that The number of the main rails is one or more; when the number of the main rails is multiple, the multiple main rails are arranged in a predetermined manner, and at least some adjacent main rails are connected by transition rails, and the transition rails are movably or immovably connected to the main rails.

11. The surgical device according to claim 9 or 10, characterized in that: The fixed track also includes a branch track that can be docked with the main track, and the branch track is arranged in a storage area. When the surgical device is not in use, it moves along the fixed track to the storage area corresponding to the branch track, and the storage area avoids the central area of ​​the operating room.

12. The surgical device according to claim 1, wherein: It also includes a movable track, the suspension device is connected to the fixed track through the movable track, and the movable track is driven by the driving device to move along the fixed track.

13. A readable storage medium, characterized in that: A program is stored, and when the program is executed, the following steps are performed: Outputting a preoperative positioning control instruction to the surgical device according to any one of claims 1 to 12, so that the surgical device drives the surgical device to move to a target position along the fixed track and adjust to a target posture according to the received preoperative positioning control instruction to complete the preoperative positioning; The preoperative positioning control instruction includes a target position and a target posture of the preoperative positioning, as well as a target motion path, so that the surgical equipment drives the surgical device to move to the target position along the target motion path and adjust to the target posture; The target motion path is determined based on the spatial position of the surgical target site and the maximum motion range of the surgical device. The maximum motion range is determined based on the spatial position of all obstacles in the operating room and the motion range of the surgical device itself. The motion range of the surgical device itself is the motion range limited by the fixed track and the configuration of the surgical device itself.

14. The readable storage medium according to claim 13, wherein: The step of determining the maximum range of motion includes: first determining a safety boundary corresponding to each obstacle based on the spatial position of all the obstacles, and then determining the maximum range of motion of the surgical device based on the range of motion of the surgical device itself and the safety boundary.

15. The readable storage medium according to claim 14, wherein: The step of determining the safety boundary of the obstacle includes: According to the image of the operating room collected by the first detection device on the surgical equipment, the spatial positions of all obstacles in the operating room are identified, and according to the spatial positions of all the obstacles, the safety boundary of each obstacle is determined.

16. A surgical robot system, characterized in that: It comprises a control device and a surgical device as described in any one of claims 1 to 12, the control device comprising a processor and a readable storage medium as described in any one of claims 13 to 15; the processor is used to run the program in the readable storage medium to output preoperative positioning control instructions; the surgical device is used to drive the surgical device along the fixed track to move to the target position and adjust to the target posture according to the received preoperative positioning control instructions to complete the preoperative positioning.

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