Implant device and surgical robot

Abstract

This invention relates to an implantation device and a surgical robot. The implantation device includes a support, a drive assembly, and a first bracket. The drive assembly includes a first drive unit, a second drive unit, a clutch assembly, and a transmission assembly. The transmission assembly includes a first input unit, a second input unit, and an output unit, with the first and second input units respectively driving the output unit to move. The clutch assembly includes a first clutch member and a second clutch member. In a first engaged position, the first clutch member coaxially connects the output shaft of the first drive unit to the first input unit, and in a first disengaged position, disconnects the output shaft of the first drive unit from the first input unit. In a second engaged position, the second clutch member coaxially connects the second drive unit to the second input unit, and in a second disengaged position, disconnects the second drive unit from the second input unit. During the implantation of a microelectrode, if the first drive unit malfunctions, the microelectrode can be implanted using the second drive unit.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to implantable devices and surgical robots. Background Technology

[0002] In neurosurgery, deep brain stimulation is one of the most precise procedures in stereotactic surgery. It requires the use of a microelectrode pusher to implant microelectrodes at a certain depth in the patient's brain to accurately stimulate the target.

[0003] When a microelectrode pusher is used to implant a microelectrode into a target point in a patient's brain, the microelectrode is held in place by a bracket, and the drive unit drives the transmission assembly to move the bracket, thereby moving the bracket to carry the microelectrode and implanting it into the patient's brain.

[0004] However, if a single drive unit of the existing microelectrode thruster malfunctions during the implantation of the microelectrode, the implantation of the microelectrode cannot continue, thus affecting the surgical process.

[0005] In addition, existing devices that automatically implant microelectrodes into target sites in the patient's brain have fixed drive paths. When the implantation position of the electrode deviates, they often cannot provide the function of manually calibrating the puncture point, which can easily lead to poor implantation results. Summary of the Invention

[0006] Therefore, it is necessary to provide an implantation device and surgical robot to overcome the shortcomings of existing microelectrode thrusters in the process of implanting microelectrodes due to the single driving unit.

[0007] An implantation device includes: a support portion, a drive assembly disposed on the support portion, and a first bracket for holding an implant, wherein the drive assembly includes: a first drive portion, a second drive portion, a clutch assembly, and a transmission assembly;

[0008] The transmission assembly includes a first input section, a second input section, and an output section connected to the first bracket. The first input section and the second input section are respectively used to drive the output section to move.

[0009] The clutch assembly includes a first clutch member and a second clutch member. The first clutch member has a first engaged position and a first disengaged position that can be switched between each other. When the first clutch member is in the first engaged position, it coaxially connects the output shaft of the first drive unit with the first input unit. When the first clutch member is in the first disengaged position, it disconnects the output shaft of the first drive unit from the first input unit. The second clutch member has a second engaged position and a second disengaged position that can be switched between each other. When the second clutch member is in the second engaged position, it coaxially connects the second drive unit with the second input unit. When the second clutch member is in the second disengaged position, it disconnects the second drive unit from the second input unit.

[0010] In one embodiment, the first clutch is axially movably connected to one of the output shaft of the first drive unit and the first input unit, such that the first clutch can switch between a first engaged position and a first disengaged position; when the first clutch is in the first engaged position, it is engaged with the other of the output shaft of the first drive unit and the first input unit, and when the first clutch is in the first disengaged position, it is disengaged from the other.

[0011] The second clutch is axially movably connected to one of the second drive unit and the second input unit, such that the second clutch can switch between the second engaged position and the second disengaged position; when the second clutch is in the second engaged position, it engages with the other of the second drive unit and the second input unit, and when the second clutch is in the second disengaged position, it disengages from the other.

[0012] In one embodiment, the clutch assembly further includes a clutch body, which is drively connected to the first clutch member and the second clutch member respectively; the clutch body can selectively switch between a first state and a second state, when the clutch body switches to the first state, it simultaneously drives the first clutch member to the first engagement position and drives the second clutch member to the second disengagement position; when the clutch body switches to the second state, it simultaneously drives the first clutch member to the first disengagement position and drives the second clutch member to the second engagement position.

[0013] In one embodiment, the clutch body includes a synchronizing clutch member, which has a first angle and a second angle for rotating about an axis, the axis being perpendicular to the axial direction of the first driving part and the axial direction of the second driving part; the two ends of the synchronizing clutch member are respectively connected to the first clutch member and the second clutch member for driving the first clutch member and the second clutch member to move in opposite directions;

[0014] When the synchronizing clutch rotates to the first angle, it simultaneously drives the first clutch to the first engagement position and the second clutch to the second disengagement position; when the synchronizing clutch rotates to the second angle, it simultaneously drives the first clutch to the first disengagement position and the second clutch to the second engagement position.

[0015] In one embodiment, the outer periphery of the first clutch member is provided with a first annular groove that surrounds the circumference, and the outer periphery of the second clutch member is provided with a second annular groove that surrounds the circumference; one end of the synchronous clutch member engages with the first annular groove, and the other end engages with the second annular groove.

[0016] In one embodiment, the clutch assembly further includes a linkage part, and the synchronous clutch element and the second drive part are respectively connected to the linkage part for transmission.

[0017] The second drive unit has an operating position and a non-operating position that can be switched along the axial direction; when the second drive unit switches to the operating position, the linkage unit drives the synchronous clutch to switch to the second angle; when the second drive unit switches to the non-operating position, the linkage unit drives the synchronous clutch to switch to the first angle.

[0018] In one embodiment, the outer periphery of the second drive unit is provided with a third annular groove that surrounds the periphery in the circumferential direction. One end of the linkage unit is engaged with the third annular groove, and the other end is rotatably connected to the synchronous clutch.

[0019] In one embodiment, when the first clutch is in the first engaged position, it engages with the other of the output shaft of the first drive unit and the first input unit; when the second clutch is in the second engaged position, it engages with the other of the second drive unit and the second input unit.

[0020] In one embodiment, the output section is slidably connected to the support section, and the first drive section, the second drive section, the clutch assembly, the first input section, and the second input section are respectively disposed on the output section;

[0021] The drive assembly further includes a transmission component disposed on the support portion; the first input portion and the second input portion are respectively connected to the transmission component so that the first input portion and the second input portion can respectively drive the output portion to slide relative to the support portion.

[0022] In one embodiment, the first drive unit, the second drive unit, the clutch assembly, and the transmission assembly are respectively disposed on the support unit.

[0023] In one embodiment, the driving component further includes an intermediate component, wherein the first input portion and the second input portion engage with the intermediate component respectively, so that the first input portion, the second input portion and the intermediate component rotate synchronously, thereby enabling the intermediate component to drive the output portion to move.

[0024] In one embodiment, the implantation device further includes an installation part connected to the support part, the installation part being used to install to the end of a robotic arm or a stereotactic headgear.

[0025] In one embodiment, the mounting part includes a tower, an upper sleeve seat, and a lower sleeve seat. The upper sleeve seat and the lower sleeve seat are respectively fixedly connected to the tower. The lower sleeve seat is located on the side of the upper sleeve seat opposite to the first bracket. An upper sleeve is provided on the upper sleeve seat, and a lower sleeve is provided on the lower sleeve seat. The upper sleeve has an upper sleeve hole, and the lower sleeve has a lower sleeve hole. The upper sleeve hole and the lower sleeve hole are used to insert a puncture needle.

[0026] In one embodiment, the upper sleeve has a plurality of upper sleeve holes arranged in an array, and the lower sleeve has a plurality of lower sleeve holes arranged in an array, with the upper sleeve holes corresponding one-to-one with the lower sleeve holes.

[0027] In one embodiment, the surgical robot further includes a long electrode holder and a second bracket for holding the microelectrode. One end of the long electrode holder is connected to the output section, and the second bracket is disposed at the other end of the long electrode holder, located on the side of the first bracket away from the end of the microelectrode.

[0028] In one embodiment, the output shaft of the first drive unit is parallel to the axial direction of the second drive unit and the two are spaced apart; the axial direction of the first input unit is parallel to the axial direction of the second input unit and the two are spaced apart; the first drive unit and the second drive unit are located on the same side of the first input unit and the second input unit.

[0029] A surgical robot, comprising:

[0030] Operating table cart;

[0031] The robotic arm is mounted on the operating table.

[0032] In any of the above embodiments of the surgical robot, the implantation device is connected to the end of the robotic arm;

[0033] Navigation trolley; and

[0034] An optical navigation system is installed on the navigation trolley, and the optical navigation system is used to guide the robotic arm to move to the planned surgical position according to the planned surgical path.

[0035] In one embodiment, the surgical robot further includes an adapter, one end of which is connected to the end of the robotic arm, and the other end of which has a snap-on quick-release structure and is connected to the implantation device through the snap-on quick-release structure.

[0036] The aforementioned implantation device and surgical robot, when used to implant microelectrodes into target points in a patient's brain, can first switch the second clutch to the second disengagement position and the first clutch to the first engagement position. This allows the output unit, driven by the first drive unit, to move together with the first bracket and the microelectrode, thereby implanting the microelectrode into the patient's brain. During microelectrode implantation, the first and second clutches can be autonomously switched according to the real-time situation, with the first clutch switching to the first engagement position or the second clutch switching to the second engagement position. This ensures accurate implantation of the implant into the target point, improving the surgeon's operational freedom and accuracy. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the implantation device according to one embodiment;

[0038] Figure 2 This is a schematic diagram showing the connection relationship between the first drive unit, the second drive unit, the clutch assembly, and the transmission assembly when the clutch body is in the first state according to an embodiment.

[0039] Figure 3 for Figure 2 A schematic diagram showing the connection relationship between the first drive unit, the second drive unit, the clutch assembly, and the transmission assembly when the clutch body is in the second state;

[0040] Figure 4 This is a schematic diagram of the implantation device according to another embodiment;

[0041] Figure 5 for Figure 4 A schematic diagram showing the connection relationship between the first drive unit, the second drive unit, the clutch assembly, and the transmission assembly when the clutch body of the implanted device is in the first state;

[0042] Figure 6 This is a schematic diagram of an implantation device installed on a stereotactic head frame according to one embodiment.

[0043] Figure 7 for Figure 1 A schematic diagram showing the connection relationship between the implanted device, adapter, and tool target;

[0044] Figure 8 for Figure 1 A schematic diagram of the mounting section in the middle;

[0045] Figure 9This is a schematic diagram of the upper sleeve in another embodiment;

[0046] Figure 10 This is a schematic diagram of the lower sleeve in another embodiment;

[0047] Figure 11 for Figure 7 Schematic diagram of the adapter

[0048] Figure 12 This is a schematic diagram illustrating the connection relationship between a microelectrode and an optical marker structure in one embodiment. Detailed Implementation

[0049] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0055] Please see Figure 1 One embodiment of this application provides an implantation device 10. The implantation device 10 includes: a support portion 100, a drive assembly, and a first bracket 300.

[0056] Combined Figure 2 and Figure 3 The drive assembly is mounted on the support portion 100. The drive assembly includes a first drive portion 210, a second drive portion 220, a clutch assembly 230, and a transmission assembly. The transmission assembly includes a first input portion 241, a second input portion 242, and an output portion 243. The first input portion 241 and the second input portion 242 are respectively used to drive the output portion 243 to move. The output portion 243 is connected to the first bracket 300. The first bracket 300 is used to hold the implant.

[0057] The clutch assembly 230 includes a first clutch element 231 and a second clutch element 232. The first clutch element 231 has a first engaged position and a first disengaged position that can be switched between each other. In the first engaged position, the first clutch element 231 coaxially connects the output shaft of the first drive unit 210 with the first input unit 241, so that the first drive unit 210 can drive the first input unit 241 to rotate coaxially, causing the first input unit 241 to drive the output unit 243 to move, thereby the output unit 243 carrying the first bracket 300 and the implant together. In the first disengaged position, the first clutch element 231 disconnects the output shaft of the first drive unit 210 from the first input unit 241, so that the first drive unit 210 loses control over the rotation of the first input unit 241.

[0058] The second clutch 232 has a second engaged position and a second disengaged position that can be switched between each other. In the second engaged position, the second clutch 232 coaxially connects the second drive unit 220 and the second input unit 242, allowing the second drive unit 220 to drive the second input unit 242 to rotate coaxially, thus causing the second input unit 242 to move the output unit 243, which in turn moves the first bracket 300 and the implant together. In the second disengaged position, the second clutch 232 disconnects the second drive unit 220 from the second input unit 242, causing the second drive unit 220 to lose control over the rotation of the second input unit 242.

[0059] In this embodiment, the implant is a microelectrode, and the first bracket 300 is used to hold the microelectrode. The implantation device 10 is used to implant the microelectrode into the target site in the patient's brain; that is, the implantation device 10 can be understood as a microelectrode pusher.

[0060] When the aforementioned implantation device 10 is used to implant a microelectrode into a target point in a patient's brain, the second clutch 232 can be switched to the second disengagement position and the first clutch 231 can be switched to the first engagement position. This allows the output unit 243 to move together with the first bracket 300 and the microelectrode, driven by the first drive unit 210, to implant the microelectrode into the patient's brain. If the first drive unit 210 malfunctions during microelectrode implantation, the second clutch 232 can be switched to the second engagement position and the first clutch 231 to the first disengagement position. This allows the output unit 243 to move together with the first bracket 300 and the microelectrode, driven by the second drive unit 220, to implant the microelectrode into the target point in the patient's brain, thus ensuring a smooth surgical procedure. Moreover, during the implantation of microelectrodes, the first clutch 231 and the second clutch 232 can be switched autonomously according to the real-time situation of the microelectrode implantation process. The first clutch 231 can be switched to the first engagement position or the second clutch 232 can be switched to the second engagement position, thereby accurately implanting the implant into the target point and improving the surgeon's operational freedom and accuracy.

[0061] It should be understood that the implant is not limited to microelectrodes, but can also be other therapeutic devices implanted in the patient's body. The implantation device 10 is also not limited to implanting the implant into the patient's brain, but can also be used to implant the implant into other parts of the patient's body. There are no limitations in this regard.

[0062] In one embodiment, the second drive unit 220 is a manual operation unit. When the implantation device 10 is used to implant an implant into a target point in the patient's body, the second clutch 232 can be switched to the second disengagement position and the first clutch 231 can be switched to the first engagement position. In this case, the implant cannot be implanted manually, but it can be implanted automatically, i.e., the implantation device 10 is in automatic mode. Therefore, the drive stroke of the first drive unit 210 can be set so that the implant can be quickly and accurately implanted into the target point or near the target point in the patient's body through the drive of the first drive unit 210. At this time, if there is a deviation between the implantation position and the target point, i.e., it is near the target point, the second clutch 232 can be switched to the second engagement position and the first clutch 231 can be switched to the first disengagement position. In this case, the implant cannot be implanted automatically, but it can be implanted manually, i.e., the implantation device 10 is in manual mode. Thus, the doctor can use experience to judge the degree of deviation between the implantation position and the target point, and fine-tune the implantation depth of the implant by adjusting the second drive unit 220, so that the implant accurately reaches the target point. Therefore, when the implantation device 10 is used to implant the implant into the target point in the patient's body, the implantation speed is fast and the accuracy is high.

[0063] The second drive unit 220 can be configured as a knob for easy manual operation. The first drive unit 210 can be a motor.

[0064] Please combine Figure 2 and Figure 3 In one embodiment, the axial direction of the first drive unit 210 is parallel to the axial direction of the second drive unit 220, and they are spaced apart. The axial direction of the first input unit 241 is parallel to the axial direction of the second input unit 242, and they are spaced apart. The first drive unit 210 and the second drive unit 220 are located on the same side of the first input unit 241 and the second input unit 242. This arrangement is reasonable, and the first input unit 241 and the second input unit 242 can drive the output unit 243 in the same way, simplifying the transmission method.

[0065] Please combine Figure 2 and Figure 3 In one embodiment, the first clutch 231 is axially movably connected to one of the output shaft and the first input section 241 of the first drive unit 210, such that the first clutch 231 can switch between a first engaged position and a first disengaged position. In the first engaged position, the first clutch 231 engages with the other of the two components, and in the first disengaged position, it disengages from that other component. Thus, by simply moving the first clutch 231 axially along one of these components, it can be moved closer to or further away from the other component, thereby engaging or disengaging it, and consequently enabling the output shaft of the first drive unit 210 to be coaxially connected to or disconnected from the first input section 241.

[0066] The second clutch 232 is movably connected to one of the second drive unit 220 and the second input unit 242, such that the second clutch 232 can switch between a second engaged position and a second disengaged position. In the second engaged position, the second clutch 232 engages with the other of the two drive units 220 and the second input unit 242; in the second disengaged position, the second clutch 232 disengages from the other. Thus, by simply moving the second clutch 232 along the axial direction of one of them, the second clutch 232 can be moved closer to or further away from the other, thereby engaging or disengaging with the other, and consequently enabling the second drive unit 220 and the second input unit 242 to coaxially connect or disconnect transmission.

[0067] It should be noted that the first clutch 231 is axially movable to one of the output shaft of the first drive unit 210 and the first input unit 241, but cannot rotate relative to each other. Thus, only when the first clutch 231 is engaged with the other of the two components can the output shaft of the first drive unit 210 and the first input unit 241 be coaxially connected. For example, the first clutch 231 may be sleeved on one of the two components and keyed to it.

[0068] Similarly, the second clutch 232 is axially movable to one of the second drive unit 220 and the second input unit 242, but cannot rotate relative to it. This allows the second drive unit 220 and the second input unit 242 to be coaxially connected when the second clutch 232 is engaged with the other of the two components. For example, the second clutch 232 can be sleeved on the outside of one of the two components and is keyed to that one.

[0069] In other embodiments, the first clutch member may be located between the output shaft of the first drive unit and the first input unit in the first engaged position. For example, one axial end of the first clutch member is magnetically connected to the output shaft of the first drive unit, and the other axial end of the first clutch member is magnetically connected to the first input unit. In the first disengaged position, the first clutch member moves out from between the output shaft of the first drive unit and the first input unit, i.e., disengaged from both the output shaft of the first drive unit and the first input unit. Similarly, the second clutch member is located between the second drive unit and the second input unit in the second engaged position. For example, one axial end of the second clutch member is magnetically connected to the second drive unit, and the other axial end of the second clutch member is magnetically connected to the second input unit. In the second disengaged position, the second clutch member moves out from between the second drive unit and the second input unit, i.e., disengaged from both the second drive unit and the second input unit.

[0070] Please combine Figure 2 and Figure 3 In one embodiment, the first clutch 231 engages with the first input portion 241 in the first engaged position and disengages from the first input portion 241 in the first disengaged position. The first clutch 231 is axially movably connected to the output shaft of the first drive portion 210, so that when the first clutch 231 moves relative to the output shaft of the first drive portion 210, it can move towards or away from the first input portion 241, thereby engaging or disengaging the first clutch 231 from the first input portion 241, i.e., switching between the first engaged position and the first disengaged position.

[0071] In other embodiments, the first clutch may engage with the output shaft of the first drive unit in the first engagement position and disengage from the output shaft of the first drive unit in the first disengagement position. The first clutch is axially movable to the first input unit, so that when the first clutch moves relative to the first input unit, it can move towards or away from the output shaft of the first drive unit, thereby engaging or disengaging the first clutch from the output shaft of the first drive unit, i.e., switching between the first engagement position and the first disengagement position.

[0072] Please combine Figure 2 and Figure 3 In one embodiment, the second clutch 232 engages with the second input portion 242 in the second engaged position and disengages from the second input portion 242 in the second disengaged position. The second clutch 232 is axially movably connected to the second drive portion 220, so that when the second clutch 232 moves relative to the second drive portion 220, it can move towards or away from the second input portion 242, thereby engaging or disengaging the second clutch 232 from the second input portion 242, i.e., switching between the second engaged position and the second disengaged position.

[0073] In other embodiments, the second clutch may engage with the second drive unit in the second engagement position and disengage from the second drive unit in the second disengagement position. The second clutch is axially movable to the second input unit, so that when the second clutch moves relative to the second input unit, it can move towards or away from the second drive unit, thereby engaging or disengaging the second clutch from the second drive unit, i.e., switching between the second engagement position and the second disengagement position.

[0074] Please combine Figure 2 and Figure 3 In one embodiment, when in the first engaged position, the first clutch 231 is engaged with either the output shaft of the first drive unit 210 or the first input unit 241. When in the second engaged position, the second clutch 232 is engaged with either the second drive unit 220 or the second input unit 242.

[0075] In other embodiments, the engagement of the first clutch member with the other of the output shaft of the first drive unit and the first input unit in the first engaged position can also be via magnetic attraction. Similarly, the engagement of the second clutch member with the other of the second drive unit and the second input unit in the second engaged position can also be via magnetic attraction.

[0076] Please combine Figure 2 and Figure 3In one embodiment, the clutch assembly further includes a clutch body 233. The clutch body 233 can selectively switch between a first state and a second state. The clutch body 233 is connected to a first clutch element 231 and a second clutch element 232 respectively, so that when the clutch body 233 switches between the first state and the second state, it can drive the first clutch element 231 and the second clutch element 232 to move.

[0077] When the clutch body 233 switches to the first state, it simultaneously moves the first clutch member 231 to the first engagement position and the second clutch member 232 to the second disengagement position, thereby allowing the implantation device 10 to implant the implant through the drive of the first drive unit 210. When the clutch body 233 switches to the second state, it simultaneously moves the first clutch member 231 to the first disengagement position and the second clutch member 232 to the second engagement position, thereby allowing the implantation device 10 to implant through the drive of the second drive unit 220. Therefore, by switching the clutch body 233 between the first and second states, the implantation device 10 can easily switch between the drive of the first drive unit 210 and the second drive unit 220.

[0078] In other embodiments, the clutch body may not be provided, and the positions of the first clutch and the second clutch may be switched independently, which may also allow the implantation device to switch between the drive of the first drive unit 210 and the drive unit 220.

[0079] In one embodiment, the axial direction of the first drive unit 210 is parallel to the axial direction of the second drive unit 220, and they are spaced apart. The axial direction of the first input unit 241 is parallel to the axial direction of the second input unit 242, and they are spaced apart. The first drive unit 210 and the second drive unit 220 are located on the same side of the first input unit 241 and the second input unit 242. Thus, the clutch body 233 can be disposed between the first drive unit 210 and the second drive unit 220, and between the first input unit 241 and the second input unit 242, thereby facilitating the transmission connection between the clutch body 233 and the first clutch member 231 and the second clutch member 232, and further facilitating the clutch body 233 to drive the first clutch member 231 and the second clutch member 232 to move, so that the implantation device 10 switches between the drive of the first drive unit 210 and the second drive unit 220.

[0080] Please combine Figure 2 and Figure 3In one embodiment, the clutch body 233 includes a synchronizing clutch 2332, which has a first angle and a second angle for rotation about an axis, wherein the axis is perpendicular to the axial direction of the first drive unit 210 and the axial direction of the second drive unit 220. The two ends of the synchronizing clutch 2332 are respectively connected to the first clutch 231 and the second clutch 232 for transmission. The synchronizing clutch 2332 is used to drive the first clutch 231 and the second clutch 232 to move in opposite directions.

[0081] When the synchronizing clutch 2332 rotates to the first angle, it simultaneously drives the first clutch 231 to the first engagement position and the second clutch 232 to the second disengagement position, meaning the clutch body 233 is in the first state. When the synchronizing clutch 2332 rotates to the second angle, it simultaneously drives the second clutch 232 to the second engagement position and the first clutch 231 to the first disengagement position, meaning the clutch body 233 is in the second state. Thus, simply rotating the synchronizing clutch 2332 allows the clutch body 233 to switch between the first and second states, facilitating the switching of the implantation device 10 between the drive of the first drive unit 210 and the second drive unit 220.

[0082] Specifically in this embodiment, the first clutch 231 engages with the first input portion 241 in the first engaged position and disengages from the first input portion 241 in the first disengaged position; the second clutch 232 engages with the second input portion 242 in the second engaged position and disengages from the second input portion 242 in the second disengaged position.

[0083] When the synchronizing clutch 2332 rotates to the first angle, it simultaneously drives the first clutch 231 to move closer to the first input section 241 and drives the second clutch 232 to move away from the second input section 242. That is, the synchronizing clutch 2332 simultaneously drives the first clutch 231 and the second clutch 232 to move in opposite directions, thereby enabling the synchronizing clutch 2332 to drive the first clutch 231 to the first engagement position and drive the second clutch 232 to the second disengagement position, that is, the clutch body 233 is in the first state. When the synchronizing clutch 2332 rotates to the second angle, it simultaneously drives the second clutch 232 to move closer to the second input section 242 and drives the first clutch 231 to move away from the first input section 241. That is, the synchronizing clutch 2332 simultaneously drives the second clutch 232 and the first clutch 231 to move in opposite directions, thereby enabling the synchronizing clutch 2332 to drive the second clutch 232 to the second engagement position and drive the first clutch 231 to the first disengagement position, that is, the clutch body 233 is in the second state.

[0084] In other embodiments, the first clutch may engage with the output shaft of the first drive unit in the first engaged position and disengage from the output shaft of the first drive unit in the first disengaged position; the second clutch may engage with the second drive unit in the second engaged position and disengage from the second drive unit in the second disengaged position. When the synchronizing clutch rotates to the first angle, it simultaneously drives the first clutch to move closer to the output shaft of the first drive unit and drives the second clutch to move away from the second drive unit. That is, the synchronizing clutch simultaneously drives the first clutch and the second clutch to move in opposite directions, thereby enabling the synchronizing clutch to drive the first clutch to the first engaged position and drive the second clutch to the second disengaged position, i.e., the clutch body is in the first state. When the synchronizing clutch rotates to the second angle, it simultaneously drives the second clutch to move closer to the second drive unit, while the first clutch moves away from the output shaft of the first drive unit. In other words, the synchronizing clutch simultaneously drives the second clutch and the first clutch to move in opposite directions, thereby enabling the synchronizing clutch to drive the second clutch to the second engagement position and the first clutch to the first disengagement position, i.e., the clutch body is in the second state.

[0085] In other embodiments, the clutch body may also employ other structures, without limitation. For example, the first clutch member is axially movably connected to the output shaft of the first drive unit. The first clutch member engages with the first input unit in the first engaged position and disengages from the first input unit in the first disengaged position. The second clutch member is axially movably connected to the second input unit, engaging with the second drive unit in the second engaged position and disengaging from the second drive unit in the second disengaged position. In this case, the clutch body may include a translation member. One end of the translation member is connected to the first clutch member, and the other end is connected to the second clutch member. The translation member can reciprocate along a straight line parallel to the axial direction of the first drive unit and the axial direction of the second drive unit. The translation member is used to drive the first clutch member and the second clutch member to move in the same direction. When the translation member translates in the positive direction of this straight line, it drives the first clutch member to move closer to the first input unit, and simultaneously drives the second clutch member to move away from the second drive unit, that is, it drives the first clutch member to the first engaged position and simultaneously drives the second clutch member to the second disengaged position. When the translation component moves in the opposite direction of the straight line, it causes the first clutch component to move away from the first input part, and at the same time causes the second clutch component to move closer to the second drive part. That is, it causes the first clutch component to move to the first disengaged position and the second clutch component to move to the second engaged position.

[0086] Please combine Figure 2 and Figure 3In one embodiment, the outer periphery of the first clutch member 231 is provided with a first annular groove 2311 that surrounds the circumference, and the outer periphery of the second clutch member 232 is provided with a second annular groove 2321 that surrounds the circumference. One end of the synchronizing clutch member 2332 engages with the first annular groove 2311, and the other end engages with the second annular groove 2321. Thus, when the synchronizing clutch member 2332 rotates around an axis, one end of the synchronizing clutch member 2332 pushes the groove wall of the first annular groove 2311, and the other end pushes the groove wall of the second annular groove 2321, thereby causing the first clutch member 231 and the second clutch member 232 to move in opposite directions, so that the clutch body 233 switches between a first state and a second state.

[0087] Since one end of the synchronizing clutch 2332 engages with the first annular groove 2311, when the first driving unit 210 drives the first clutch 231 to rotate, the first annular groove 2311 rotates synchronously. One end of the synchronizing clutch 2332 remains stationary within the first annular groove 2311, thus the synchronizing clutch 2332 does not affect the rotation of the first clutch 231, and consequently, does not affect the rotation of the first input unit 241. Similarly, since the other end of the synchronizing clutch 2332 engages with the second annular groove 2321, when the second driving unit 220 drives the second clutch 232 to rotate, the second annular groove 2321 rotates synchronously. One end of the synchronizing clutch 2332 remains stationary within the second annular groove 2321, thus the synchronizing clutch 2332 does not affect the rotation of the second clutch 232, and consequently, does not affect the rotation of the second input unit 242.

[0088] In other embodiments, the first clutch element may not have a first annular groove, and the second clutch element may not have a second annular groove. For example, the clutch body includes a first collar and a first connecting rod. The first collar is fitted onto the first clutch element in a manner that allows relative rotation but not axial movement. The two ends of the first connecting rod are rotatably connected to one end of the first clutch element and one end of the synchronizing clutch element, respectively, so that the synchronizing clutch element and the first connecting rod form a crank-connecting rod mechanism, which can drive the first collar to move axially, thereby driving the first clutch element to move axially, and the first collar does not affect the rotation of the first clutch element. Similarly, the clutch body may include a second collar and a second connecting rod. The second collar is fitted onto the second clutch element in a manner that allows relative rotation but not axial movement. The two ends of the second connecting rod are rotatably connected to one end of the second clutch element and one end of the synchronizing clutch element, respectively, so that the synchronizing clutch element and the second connecting rod form a crank-connecting rod mechanism, which can drive the second collar to move axially, thereby driving the second clutch element to move axially, and the second collar does not affect the rotation of the second clutch element.

[0089] Please combine Figure 2 and Figure 3In one embodiment, the clutch assembly further includes a linkage 244, with a synchronizing clutch 2332 and a second drive unit 220 respectively connected to the linkage 244. The second drive unit 220 has an operating position and a non-operating position that can be switched axially. When the second drive unit 220 is switched to the operating position, the linkage 244 moves the synchronizing clutch 2332, causing the synchronizing clutch 2332 to switch to a second angle, thereby allowing the implant to be inserted by the drive of the second drive unit 220. When the second drive unit 220 is switched to the non-operating position, the linkage 244 moves the synchronizing clutch 2332, causing the synchronizing clutch 2332 to switch to a first angle, thereby allowing the implant to be inserted by the drive of the first drive unit 210. Thus, by switching the position of the second drive unit 220, the synchronizing clutch 2332 can be switched between a first angle and a second angle, facilitating operation.

[0090] Please combine Figure 2 and Figure 3 In one embodiment, the outer periphery of the second drive unit 220 is provided with a third annular groove 2221 that surrounds the periphery in the circumferential direction. One end of the linkage unit 244 is engaged with the third annular groove 2221, and the other end is rotatably connected to the synchronous clutch 2332.

[0091] When the second drive unit 220 switches between the operating position and the non-operating position along the axial direction, the groove wall of the third annular groove 2221 will push one end of the linkage unit 244 to move, thereby causing the other end of the linkage unit 244 to drive the synchronous clutch 2332 to rotate, and then drive the synchronous clutch 2332 to switch between the first angle and the second angle.

[0092] Since one end of the linkage part 244 engages with the third annular groove 2221, the third annular groove 2221 rotates synchronously when the second drive part 220 rotates, and one end of the linkage part 244 can remain stationary within the third annular groove 2221, thus not affecting the rotation of the second drive part 220.

[0093] In other embodiments, the second drive unit may not have a third annular groove. For example, a transmission collar is fitted onto the second drive unit, and the transmission collar engages with the second drive unit in a manner that allows relative rotation but not axial movement. One end of the linkage is rotatably connected to the transmission collar, and the other end is rotatably connected to the synchronous clutch. Then, when the second drive unit switches axially between the operating and non-operating positions, the transmission collar moves synchronously with the second drive unit, thereby also driving the synchronous clutch to rotate via the linkage, thus allowing the rotating shaft to switch between the first angle and the second angle. Moreover, the transmission collar does not affect the rotation of the second drive unit.

[0094] Please refer to Figure 1In one embodiment, the output section 243 is slidably connected to the support section 100, and the first drive section 210, the second drive section 220, the clutch assembly 230, the first input section 241, and the second input section 242 are respectively disposed on the output section 243. Specifically, the first input section 241, the second input section 242, and the second drive section 220 are rotatably connected to the output section 243. The housing of the first drive section 210 is fixed to the output section 243.

[0095] The transmission assembly also includes a transmission member 245, which is disposed on the support portion 100. The first input portion 241 and the second input portion 242 are respectively connected to the transmission member 245 so that the first input portion 241 and the second input portion 242 can respectively drive the output portion 243 to slide relative to the support portion 100. When the first input portion 241 and the second input portion 242 rotate, the transmission member 245 causes the first input portion 241 and the second input portion 242 to move, thereby driving the output portion 243 to slide relative to the support portion 100.

[0096] Please combine Figure 2 and Figure 3 In one embodiment, the transmission member 245 is a rack, and the first input part 241 and the second input part 242 are gears. When the first input part 241 and the second input part 242 rotate, they move along the length direction of the rack, thereby causing the output part 243 to slide relative to the support part 100.

[0097] In other embodiments, the transmission component can also be a lead screw. The first input portion and the second input portion are nuts, which are threaded into the lead screw. When the first input portion and the second input portion rotate, they move along the length of the lead screw, thereby causing the output portion to slide relative to the support portion.

[0098] In one embodiment, the second drive unit 220 is axially connected to the output unit 243 in an adjustable position, thereby enabling switching between an operating position and a non-operating position along the axial direction.

[0099] Please combine Figure 2 and Figure 3 In one embodiment, the clutch body 233 further includes a rotating shaft 2331. A synchronizing clutch element 2332 is connected to the rotating shaft 2331. The synchronizing clutch element 2332 rotates about the axis of the rotating shaft 2331 when switching between a first angle and a second angle.

[0100] In one embodiment, the synchronizing clutch 2332 is rotatably connected to the output unit 243 via a rotating shaft 2331, thereby enabling it to switch between a first angle and a second angle around an axis.

[0101] Specifically, the synchronizing clutch 2332 can be fixedly connected to the rotating shaft 2331, and the rotating shaft 2331 can be rotatably connected to the output unit 243, thereby achieving a rotatable connection between the synchronizing clutch 2332 and the output unit 243 via the rotating shaft 2331. Alternatively, the rotating shaft 2331 can be fixedly connected to the output unit 243, and the synchronizing clutch 2332 can be rotatably connected to the rotating shaft 2331, thereby also achieving a rotatable connection between the synchronizing clutch 2332 and the output unit 243 via the rotating shaft 2331.

[0102] Please combine Figure 2 and Figure 3 The transmission assembly also includes an intermediate component 246. The first input part 241 and the second input part 242 respectively engage with the intermediate component 246 so that the first input part 241, the second input part 242 and the intermediate component 246 rotate synchronously, so that the intermediate component 246 can drive the output part 243 to move.

[0103] In this embodiment, the transmission component 245 is a rack and pinion, and the first input portion 241 and the second input portion 242 are gears. The intermediate component 246 is a gear located between the first input portion 241 and the second input portion 242. Thus, when either the first input portion 241 or the second input portion 242 rotates, the first input portion 241, the second input portion 242, and the intermediate component 246 rotate synchronously. This allows the first input portion 241 and the second input portion 242 to simultaneously transmit power to the output portion 243, which is beneficial for the smooth movement of the output portion 243.

[0104] Please refer to Figure 4 and Figure 5 In another embodiment, the first drive unit 210, the second drive unit 220, the clutch assembly 230, and the transmission assembly can also be respectively disposed on the support unit 100. Specifically, the first input unit 241, the second input unit 242, and the second drive unit 220 are rotatably connected to the support unit 100. The housing of the first drive unit 210 is fixed to the support unit 100. The transmission of the output unit 243 by the first input unit 241 and the second input unit 242 can be a threaded transmission, a gear and rack transmission, or other transmission methods, as long as it can drive the output unit 243 to move.

[0105] exist Figure 4 and Figure 5In the illustrated embodiment, the transmission assembly further includes an intermediate component 246. The first input portion 241 and the second input portion 242 respectively engage with the intermediate component 246, causing the first input portion 241, the second input portion 242, and the intermediate component 246 to rotate synchronously, thereby enabling the intermediate component 246 to drive the output portion 243 to move. In this embodiment, a lead screw 248 is coaxially connected to the intermediate component 246. The lead screw 248 is threadedly engaged with the output portion 243, so that the intermediate component 246 drives the lead screw 248 to rotate synchronously, thus driving the output portion 243 to move. The synchronous rotation of the first input portion 241, the second input portion 242, and the intermediate component 246 via the intermediate component 246 facilitates smooth movement of the output portion 243. Furthermore, by using the lead screw 248 connected to the intermediate component 246 to drive the output portion 243, only one lead screw 248 is needed, eliminating the need to connect separate lead screws to the first input portion 241 and the second input portion 242.

[0106] exist Figure 4 In the embodiment shown, the second drive unit 220 is axially connected to the support unit 100 in an adjustable position, thereby enabling switching between an operating position and a non-operating position along the axial direction.

[0107] In one embodiment, the synchronizing clutch 2332 is rotatably connected to the support 100 via a rotating shaft 2331, thereby enabling it to switch between a first angle and a second angle around an axis.

[0108] Specifically, the synchronizing clutch 2332 can be fixedly connected to the rotating shaft 2331, and the rotating shaft 2331 can be rotatably connected to the support part 100, thereby achieving a rotatable connection between the synchronizing clutch 2332 and the support part 100 via the rotating shaft 2331. Alternatively, the rotating shaft 2331 can be fixedly connected to the support part 100, and the synchronizing clutch 2332 can be rotatably connected to the rotating shaft 2331, thereby also achieving a rotatable connection between the synchronizing clutch 2332 and the support part 100 via the rotating shaft 2331.

[0109] Please refer to Figure 1 In one embodiment, the implantation device 10 further includes a retainer 247. The retainer 247 is used to lock or release the output portion 243 from the support portion 100.

[0110] When the implant is about to be inserted into the patient's body, the output section 243 and the support section 100 are released by the fixing member 247, so that the output section 243 can move relative to the support section 100 carrying the implant. When the implant is inserted into the target point in the patient's body, the output section 243 and the support section 100 can be locked by the fixing member 247 to fix the position of the implant.

[0111] In one embodiment, the fixing member 247 can be a locking bolt, which is threadedly connected to the output part 243 and can pass through the output part 243. By screwing the fixing member 247 so that one end of the fixing member 247 passing through the output part 243 abuts against the support part 100, the output part 243 and the support part 100 can be locked. By screwing the fixing member 247 in the opposite direction, the output part 243 and the support part 100 can be loosened.

[0112] Please refer to Figure 1 In one embodiment, the implantation device 10 further includes a mounting portion 400, which is connected to the support portion 100. The mounting portion 400 is used for mounting to the end effector of a robotic arm or a stereotactic headgear.

[0113] The implantation device 10 is mounted on the end of the robotic arm via the mounting unit 400. The robotic arm can then carry the implantation device 10 along the planned surgical path to the vicinity of the patient's brain and automatically control the implantation device 10 to implant the microelectrode. If there is still a deviation between the implantation position of the microelectrode and the target point when the automatic implantation operation is completed, the implantation device 10 can be switched to manual mode. This allows the doctor to use experience to judge the degree of deviation between the implantation position of the microelectrode and the target point, and to fine-tune the implantation depth of the microelectrode by adjusting the second drive unit 220, thereby ensuring that the microelectrode accurately reaches the target point.

[0114] Alternatively, please refer to Figure 6 Alternatively, the implantation device 10 can be installed on the stereotactic head frame 2 via the installation unit 400, and the microelectrode can be implanted manually.

[0115] By providing an installation part 400, which is used to install onto the end of a robotic arm or a stereotactic head frame 2, the application scenarios of the implantation device 10 become more flexible.

[0116] The mounting part 400 and the support part 100 can be molded separately and then fixedly connected, or they can be molded as one piece.

[0117] The mounting part 400 is located on the side of the support part 100 closer to the patient's brain, that is, the mounting part 400 is closer to the patient's brain.

[0118] Please refer to Figure 1 In one embodiment, the mounting portion 400 and the support portion 100 can be fixedly connected by a first fastener 450. The first fastener 450 can be a locking bolt or the like.

[0119] Please refer to Figure 1 and Figure 8In one embodiment, the mounting unit 400 includes a tower 410, an upper sleeve seat 420, and a lower sleeve seat 430. The lower sleeve seat 430 is located on the side of the upper sleeve seat 420 opposite to the first bracket 300, that is, the lower sleeve seat 430 is closer to the patient's brain. The upper sleeve seat 420 and the lower sleeve seat 430 are respectively fixedly connected to the tower 410. The upper sleeve seat 420 is provided with an upper sleeve 421, and the lower sleeve seat 430 is provided with a lower sleeve 431. The upper sleeve 421 has an upper sleeve hole 4211, and the lower sleeve 431 has a lower sleeve hole 4311. Figure 1 , Figure 6 and Figure 7 The upper sleeve hole 4211 and the lower sleeve hole 4311 are used to insert the puncture needle 80.

[0120] When the implantation device 10 is used to implant the microelectrode into the target point of the patient's brain, the puncture needle 80 is first inserted into the upper cannula hole 4211 and the lower cannula hole 4311, then a spacer tube (not shown) is inserted into the puncture needle 80, and finally the microelectrode is inserted into the spacer tube to guide the microelectrode.

[0121] Since the puncture needle 80 is inserted into the upper cannula hole 4211 and the lower cannula hole 4311, the upper cannula hole 4211 and the lower cannula hole 4311 play a guiding role for the puncture needle 80, that is, they play a guiding role for the microelectrode, preventing the microelectrode from bending during implantation.

[0122] Please refer to Figure 8 In one embodiment, the distance between the upper sleeve seat 420 and the lower sleeve seat 430 is adjustable, thereby allowing adjustment of the distance between the upper sleeve 421 and the lower sleeve 432.

[0123] The lower sleeve seat 430 can be fixedly connected to the tower 410. The upper sleeve seat 420 is adjustablely connected to the tower 410, so that the distance between the upper sleeve seat 420 and the lower sleeve seat 430 is adjustable.

[0124] Please refer to Figure 8 In one embodiment, the tower 410 is inserted into the upper sleeve seat 420 and the two are locked together by a second fastener 440. When the second fastener 440 is loosened, the upper sleeve seat 420 can be adjusted along the length of the tower 410. When the adjustment is complete, the upper sleeve seat 420 and the tower 410 can be locked together by the second fastener 440. The second fastener 440 is, for example, a locking bolt.

[0125] Please refer to Figure 8 In one embodiment, the upper sleeve 421 is provided with an upper sleeve hole 4211, and the lower sleeve 431 is provided with a lower sleeve hole 4311.

[0126] In neurosurgery, some procedures require not only electrical stimulation at the target site but also stimulation around the target site, and the patient's electrophysiological signals are monitored by continuously adjusting the position of the electrical stimulation. For this purpose, please refer to... Figure 9 and Figure 10 In another embodiment, the upper sleeve 421 has a plurality of upper sleeve holes 4211 arranged in an array, and the lower sleeve 431 has a plurality of lower sleeve holes 4311 arranged in an array, with each upper sleeve hole 4211 corresponding to a lower sleeve hole 4311. A microelectrode can be inserted into each pair of upper sleeve holes 4211 and lower sleeve holes 4311, so that microelectrodes can be inserted into different upper sleeve holes 4211 and lower sleeve holes 4311 respectively, so as to realize electrical stimulation of other positions around the target point.

[0127] Please refer to Figure 1 and Figure 4 In one embodiment, the support 100 includes a vertical plate 110 and a horizontal plate 120 fixedly connected to the vertical plate 110. A drive assembly is disposed on the vertical plate 110.

[0128] Please refer to Figure 1 and Figure 4 In one embodiment, the tower 410 is inserted into the horizontal plate 120 and locked to the horizontal plate 120 by a first fastener 450. When the first fastener 450 is loosened, the horizontal plate 120 can be adjusted in position along the length of the tower 410. When the adjustment is completed, the tower 410 can be locked to the horizontal plate 120 by the first fastener 450.

[0129] Please refer to Figure 1 and Figure 4 The horizontal plate 120 is provided with a sleeve mounting hole 121 for accommodating the upper sleeve 421. The third fastener 122 and the fourth fastener 123 can pass through the horizontal plate 120 respectively and abut against the side wall of the upper sleeve 421, so that the upper sleeve 421 is reliably connected to the horizontal plate 120.

[0130] Please refer to Figure 1 In one embodiment, the implantation device 10 further includes a long electrode holder 500 and a second bracket 600 for holding the microelectrode 90. One end of the long electrode holder 500 is connected to an output portion 243, and the second bracket 600 is disposed at the other end of the long electrode holder 500, located on the side of the first bracket 300 away from the end of the microelectrode. The end of the microelectrode is the end of the microelectrode used for implantation at the target point. The tip of the microelectrode is the end of the microelectrode away from the target point.

[0131] In neurosurgery, different types of microelectrodes are used for different surgical procedures, resulting in varying lengths of microelectrodes. When implanting microelectrodes into a patient's brain, the longer the microelectrode, the greater the distance between its tip and tip. In this embodiment, a long electrode holder 500 is provided, with one end connected to the support portion 100 and the other end extending away from the tip of the microelectrode. This allows the second bracket 600 to be located on the side of the first bracket 300 away from the tip of the microelectrode, meaning the second bracket 600 is farther from the tip of the microelectrode. Consequently, the second bracket 600 can be used to hold the tip of a relatively long microelectrode, while the first bracket 300 can be used to hold the tip of a relatively short microelectrode. This allows the implantation device 10 to be adapted to microelectrodes of different lengths.

[0132] One embodiment of this application also provides a surgical robot. The surgical robot includes: a surgical cart, a robotic arm, an implantation device 10 as described in any of the above embodiments, a navigation cart, and an optical navigation system. The robotic arm is mounted on the surgical cart. The implantation device 10 is connected to the end of the robotic arm. The optical navigation system is mounted on the navigation cart and is used to guide the robotic arm to move to the planned surgical position according to the planned surgical path.

[0133] In the aforementioned surgical robot, when the implantation device 10 is used to implant microelectrodes into the target point of the patient's brain, the second clutch 232 can be switched to the second disengagement position and the first clutch 231 can be switched to the first engagement position. This allows the output unit 243, carrying the first bracket 300 and the microelectrode, to move together under the drive of the first drive unit 210, thereby implanting the microelectrode into the patient's brain. If the first drive unit 210 malfunctions during microelectrode implantation, the second clutch 232 can be switched to the second engagement position and the first clutch 231 can be switched to the first disengagement position. This allows the output unit 243, carrying the first bracket 300 and the microelectrode, to move together under the drive of the second drive unit 220, thereby implanting the microelectrode into the target point of the patient's brain, thus ensuring a smooth surgical procedure. Moreover, during the implantation of microelectrodes, the first clutch 231 and the second clutch 232 can be switched autonomously according to the real-time situation of the microelectrode implantation process. The first clutch 231 can be switched to the first engagement position or the second clutch 232 can be switched to the second engagement position, thereby accurately implanting the implant into the target point and improving the surgeon's operational freedom and accuracy.

[0134] The specific structure and working principle of the operating table, robotic arm, navigation table, and optical navigation system can be referred to existing technologies and will not be elaborated here.

[0135] Please refer to Figure 7 and Figure 11In one embodiment, the surgical robot also includes an adapter 60. One end of the adapter body 61 is connected to the end of the robotic arm, and the other end is connected to the implantation device 10, thereby enabling the implantation device 10 to be connected to the end of the robotic arm.

[0136] Please refer to Figure 7 In one embodiment, the surgical robot also includes a tool target 70. The tool target 70 is disposed on the adapter 60. An optical navigation system is used to guide the movement and positioning of the robotic arm by monitoring the position of the tool target 70. The monitoring principle of the optical navigation system for the tool target 70 is based on existing technology and will not be described in detail here.

[0137] Please refer to Figure 7 and Figure 11 In one embodiment, the adapter 60 includes an adapter body 61 and a snap-on quick-release structure 62. One end of the adapter body 61 is connected to the end of the robotic arm, and the snap-on quick-release structure 62 is located at the other end of the adapter body 61, so that the adapter body 61 is connected to the implantation device 10 through the snap-on quick-release structure 62. The snap-on quick-release structure 62 facilitates quick installation and removal of the implantation device 10.

[0138] Please refer to Figure 11 In one embodiment, the adapter body 61 is provided with a locking hole 611. The handle 621 includes a first part, a second part connected to the first part, and a gripping part 6213. The first part includes two spaced-apart clamping arms 6211, and the second part includes two spaced-apart connecting arms 6212. One end of each clamping arm 6211 is hinged to the adapter body 61. The other ends of each clamping arm 6211 are connected to the two connecting arms 6212 respectively. The clamping arms 6211 and the connecting arms 6212 are arranged at an angle. Both ends of the gripping part 6213 are respectively connected to the ends of the two connecting arms 6212 opposite to the clamping arms 6211. The distance between the two connecting arms 6212 is greater than the distance between the two clamping arms 6211. The two clamping arms 6211 are used to clamp the implantation device 10, and the two connecting arms 6212 are used to release the implantation device 10.

[0139] When handle 621 is rotated to the locking angle, the space between the two gripping arms 6211 aligns with the locking hole 611, clamping the implantation device 10 and thus mounting it at the end of the robotic arm. When handle 621 is rotated to the release angle, the space between the two connecting arms 6212 aligns with the locking hole 611. Since the distance between the two connecting arms 6212 is greater than the distance between the two gripping arms 6211, the two connecting arms 6212 can release the implantation device 10, allowing it to move out of the locking hole 611 and be detached from the end of the robotic arm.

[0140] In other embodiments, the snap-on quick-release structure may also employ other structures in the prior art, and there are no limitations on this.

[0141] In one embodiment, the snap-on quick-release structure 62 is used to connect with the mounting portion 400 of the implantation device 10. Specifically, the snap-on quick-release structure 62 can be used to connect with the upper sleeve 421.

[0142] Combination Figure 7 and Figure 11 First, the handle 621 can be placed at the release angle. Then, the lower end of the upper sleeve 421 can be inserted between the locking hole 611 and the two connecting arms 6212. Then, the handle 621 can be switched to the locking angle, and the two clamping arms 6211 can clamp the upper sleeve 421.

[0143] Please refer to Figure 12 In one embodiment, an optical marker structure 91 is provided at the tip of the microelectrode 90. The optical navigation system can identify the optical marker structure 91 in real time, thereby enabling real-time monitoring of the implantation depth of the microelectrode 90 based on the optical marker structure 91, to ensure that the microelectrode 90 is accurately implanted into the target point in the patient's brain.

[0144] The specific structure of the optical marker structure 91 and the identification method of the optical navigation system for the optical marker structure 91 can be referred to the existing technology, and will not be elaborated here.

[0145] One embodiment of this application also provides a workflow for a surgical robot to implant microelectrodes into target sites in a patient's brain, as detailed below:

[0146] First, based on the patient's medical imaging data, such as CT (Computed Tomography) and MRI (Magnetic Resonance Imaging), the doctor uses the preoperative planning system of the surgical robot to segment and fuse the data, confirming the entry point, target point, and puncture path, thereby completing the surgical path planning.

[0147] Subsequently, the robotic arm and the navigation camera, as well as the patient's head position and the navigation camera, were registered and aligned using an optical navigation system to ensure that the robotic arm, the patient's head, and the navigation camera were in the same coordinate system.

[0148] Then, the robotic arm is guided to move to the planned path and automatically locks after the intraoperative navigation system is used. After the doctor completes the disinfection, drilling and puncture operations, the microelectrode can be implanted into the patient's brain using the implantation device 10, and the implantation depth of the microelectrode can be monitored in real time using the optical marker structure 91 during the implantation process.

[0149] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0150] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A surgical robot, characterized in that, include: The surgical cart, the robotic arm mounted on the surgical cart, the implantation device, the navigation cart, and the optical navigation system are provided. The implantation device is connected to the end of the robotic arm, and the optical navigation system is mounted on the navigation cart. The optical navigation system is used to guide the robotic arm to move to the planned surgical position according to the planned surgical path. The implantation device includes: a support portion, a drive assembly disposed on the support portion, and a first bracket for holding the implant. The drive assembly includes: a first drive portion, a second drive portion, a clutch assembly, and a transmission assembly. The transmission assembly includes a first input section, a second input section, and an output section connected to the first bracket. The first input section and the second input section are respectively used to drive the output section to move. The clutch assembly includes a first clutch component, a second clutch component, and a clutch body. The clutch body is drively connected to both the first clutch component and the second clutch component. The clutch body can selectively switch between a first state and a second state. When the clutch body switches to the first state, it simultaneously moves the first clutch component to a first engaged position and the second clutch component to a second disengaged position. When the clutch body switches to the second state, it simultaneously moves the first clutch component to the first disengaged position and the second clutch component to the second engaged position. The second drive unit is a manual operation unit. The first clutch is axially movable to one of the output shaft of the first drive unit and the first input unit. When the first clutch is in the first engaged position, it is engaged with the other of the output shaft of the first drive unit and the first input unit. When the first clutch is in the first disengaged position, it is disengaged from the other one. The second clutch is axially movably connected to one of the second drive unit and the second input unit. When the second clutch is in the second engaged position, it is engaged with the other of the second drive unit and the second input unit. When the second clutch is in the second disengaged position, it is disengaged from the other of the two.

2. The surgical robot according to claim 1, characterized in that, The clutch body includes a synchronous clutch component, which has a first angle and a second angle for rotating around an axis, the axis being perpendicular to the axial direction of the first drive unit and the axial direction of the second drive unit; the two ends of the synchronous clutch component are respectively connected to the first clutch component and the second clutch component and are used to drive the first clutch component and the second clutch component to move in opposite directions; When the synchronizing clutch rotates to the first angle, it simultaneously drives the first clutch to the first engagement position and the second clutch to the second disengagement position; when the synchronizing clutch rotates to the second angle, it simultaneously drives the first clutch to the first disengagement position and the second clutch to the second engagement position.

3. The surgical robot according to claim 2, characterized in that, The outer periphery of the first clutch component is provided with a first annular groove that surrounds the circumference, and the outer periphery of the second clutch component is provided with a second annular groove that surrounds the circumference; one end of the synchronous clutch component engages with the first annular groove, and the other end engages with the second annular groove.

4. The surgical robot according to claim 2, characterized in that, The clutch assembly further includes a linkage part, and the synchronous clutch element and the second drive part are respectively connected to the linkage part for transmission. The second drive unit has an operating position and a non-operating position that can be switched along the axial direction; when the second drive unit switches to the operating position, the linkage unit drives the synchronous clutch to switch to the second angle; when the second drive unit switches to the non-operating position, the linkage unit drives the synchronous clutch to switch to the first angle.

5. The surgical robot according to claim 4, characterized in that, The outer periphery of the second drive unit is provided with a third annular groove that surrounds the periphery. One end of the linkage unit is engaged with the third annular groove, and the other end is rotatably connected to the synchronous clutch.

6. The surgical robot according to claim 1, characterized in that, When the first clutch is in the first engaged position, it engages with the other of the output shaft of the first drive unit and the first input unit; when the second clutch is in the second engaged position, it engages with the other of the second drive unit and the second input unit.

7. The surgical robot according to claim 1, characterized in that, The output section is slidably connected to the support section, and the first drive section, the second drive section, the clutch assembly, the first input section, and the second input section are respectively disposed on the output section; The drive assembly further includes a transmission component disposed on the support portion; the first input portion and the second input portion are respectively connected to the transmission component so that the first input portion and the second input portion can respectively drive the output portion to slide relative to the support portion.

8. The surgical robot according to claim 7, characterized in that, The drive assembly further includes an intermediate component, with the first input section and the second input section respectively engaging with the intermediate component to cause the first input section, the second input section, and the intermediate component to rotate synchronously, so that the intermediate component can drive the output section to move.

9. The surgical robot according to claim 1, characterized in that, It also includes a mounting part connected to the support part, the mounting part being used to mount to the end of the robotic arm or a stereoscopic headframe.

10. The surgical robot according to claim 9, characterized in that, The installation unit includes a tower, an upper sleeve seat, and a lower sleeve seat. The upper sleeve seat and the lower sleeve seat are respectively fixedly connected to the tower. The lower sleeve seat is located on the side of the upper sleeve seat away from the first bracket. An upper sleeve is provided on the upper sleeve seat, and a lower sleeve is provided on the lower sleeve seat. The upper sleeve has an upper sleeve hole, and the lower sleeve has a lower sleeve hole. The upper sleeve hole and the lower sleeve hole are used to insert a puncture needle.

11. The surgical robot according to claim 10, characterized in that, The upper sleeve has a plurality of upper sleeve holes arranged in an array, and the lower sleeve has a plurality of lower sleeve holes arranged in an array, with each upper sleeve hole corresponding to a lower sleeve hole.

12. The surgical robot according to claim 1, characterized in that, It also includes a long electrode holder and a second bracket for holding the microelectrode. One end of the long electrode holder is connected to the output section, and the second bracket is disposed at the other end of the long electrode holder. The second bracket is located on the side of the first bracket away from the end of the microelectrode.

13. The surgical robot according to claim 1, characterized in that, The output shaft of the first drive unit is parallel to the axial direction of the second drive unit and the two are spaced apart; the axial direction of the first input unit is parallel to the axial direction of the second input unit and the two are spaced apart; the first drive unit and the second drive unit are located on the same side of the first input unit and the second input unit.

14. The surgical robot according to claim 1, characterized in that, It also includes an adapter, one end of which is connected to the end of the robotic arm, and the other end of which has a snap-on quick-release structure and is connected to the implantation device through the snap-on quick-release structure.

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