Surgical system

Abstract

The present application discloses a surgical system for processing anatomical tissues by surgical tools, characterized in that it includes an actuator, a robotic arm, a positioner, and a controller, wherein the actuator includes a visual indication area with a reference prompt feature, the visual indication area includes a plurality of arranged indication units, and the indication unit has at least a switchable first indication state and a second indication state; the controller is used to control the indication unit having a predetermined orientation relationship with the reference prompt feature to present a second indication state according to spatial relationship information to indicate the state of the surgical tool relative to the target position. This facilitates the physician to accurately know the surgical situation of the surgical tool at the surgical site in the surgical space.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a surgical system. Background Art

[0002] In robot-assisted navigation surgery, the navigation system's display can display a digital three-dimensional model of the surgical site and surgical tools in real time, so that the physician can determine the relative position between the surgical tools and the target anatomical structure.

[0003] For example, in knee replacement surgery using the knee navigation surgery system, the doctor pushes the electric oscillating saw at the end of the collaborative robot arm to perform osteotomies on the distal femur and proximal tibia, and the system can track the relative position between the saw blade of the electric oscillating saw and the target osteotomy surface in real time, and display the digital 3D models of the two on the display. During the osteotomy process, the doctor can observe the position deviation between the saw blade and the target osteotomy surface on the display, thereby changing the direction of force applied to the collaborative robot arm to correct the deviation and achieve a more accurate osteotomy effect.

[0004] In addition, when the doctor performs an osteotomy on a target osteotomy surface, the system tracks the trajectory of the saw blade and counts the overlap between the saw blade and the bone area to be removed. Based on the overlap, the system displays whether the bone to be removed has been removed or the progress of the removal in the form of a digital three-dimensional model. The doctor can thus learn the specific situation of the bone removal on the osteotomy surface by the saw blade held by the robotic arm and change the direction of the osteotomy or stop the osteotomy in time.

[0005] Also, in hip surgery, in order to ensure the accurate installation of the acetabular prosthesis, the grinding of the acetabular socket by the acetabular grinding also needs to be accurately and strictly monitored. To this end, the system tracks the position of the acetabular grinding and the acetabular socket, and the relative position relationship of the acetabular grinding to the predetermined target acetabular socket contour is displayed on the display through a digital three-dimensional model. The physician can observe the positional relationship between the acetabular grinding and the target acetabular socket contour on the display to guide the physician to accurately complete the preparation of the acetabular socket.

[0006] However, the monitor is usually located around the operating table, far away from the surgical site. During the operation, the doctor must pay attention to the surgical site and observe the image on the monitor to guide the surgical operation. During the operation, the doctor needs to constantly turn his head to change his line of sight, which is not conducive to the smooth progress of the surgical operation. Summary of the invention

[0007] The present application provides a surgical system that facilitates physicians to accurately know the surgical conditions of surgical tools at the surgical site in the surgical space.

[0008] A surgical system for processing anatomical tissue using surgical tools, characterized in that it includes an actuator for carrying the surgical tool, the actuator including a visual indication area with a reference prompt feature, the visual indication area including a plurality of arranged indication units, the indication unit having at least a switchable first indication state and a second indication state; a robotic arm for holding the actuator; a positioner for acquiring coordinate information of the actuator and / or the surgical tool and a target position, the target position being associated with the anatomical tissue, the coordinate information being used to calculate spatial relationship information between the actuator and / or the surgical tool and the target position; and a controller for controlling the indication unit having a predetermined orientation relationship with the reference prompt feature to present a second indication state according to the spatial relationship information to indicate the state of the surgical tool relative to the target position.

[0009] In a first possible implementation manner, the predetermined orientation relationship includes a distance relationship and a direction relationship.

[0010] In combination with the foregoing possible implementation manners, in a second possible implementation manner, the distance relationship is: the distance to the reference prompt feature is equal to or less than or equal to one or more values ​​corresponding to the spatial relationship information.

[0011] In combination with the foregoing possible implementation manners, in a third possible implementation manner, the directional relationship is: the indication unit presenting the second indication state is located on one side of the two sides of the reference prompt feature.

[0012] In combination with the above possible implementations, in a fourth possible implementation, the spatial relationship is a relative positional relationship between the surgical tool plane and the target plane.

[0013] In combination with the above possible implementations, in a fifth possible implementation, the reference prompt feature has a logo or a shape and size different from that of the indicator unit, and the indicator units are arranged on both sides of the reference prompt feature along a straight line or a curve.

[0014] In combination with the above possible implementations, in a sixth possible implementation, the visual indication area is preset as a plurality of indication intervals, the plurality of indication intervals are arranged so that each indication interval corresponds to a second indication state, and indication units in adjacent intervals have different second indication states.

[0015] In combination with the above possible implementation methods, in a seventh possible implementation method, the multiple indication intervals include at least: a first indication interval, including a benchmark prompt feature and an indication unit within a predetermined range of the benchmark prompt feature; a second indication interval, adjacent to the first indication interval in a first direction, including at least one indication unit, wherein the distance between the indication unit and the benchmark prompt feature is within a first distance range; and a third indication interval, adjacent to the first indication interval in a second direction, including at least one indication unit, wherein the distance between the indication unit and the benchmark prompt feature is within a second distance range.

[0016] In combination with the foregoing possible implementations, in an eighth possible implementation, the reference prompt feature is a reference boundary that can form a predetermined area.

[0017] In combination with the foregoing possible implementations, in a ninth possible implementation, the spatial relationship is an overlap relationship between a preset area of ​​the surgical tool and a target area.

[0018] In combination with the foregoing possible implementations, in a tenth possible implementation, the spatial relationship is a distance relationship between a preset contour of the surgical tool and a target contour.

[0019] In combination with the foregoing possible implementation manners, in an eleventh possible implementation manner, the indication unit further has a third indication state, and the third indication state is different from the first indication state and the second indication state.

[0020] In combination with the above possible implementation methods, in a twelfth possible implementation method, it is characterized in that when the surgical tool is located at a first position of the target position, the corresponding indication unit within the predetermined area presents a first indication state; when the surgical tool is located at a second position of the target position, the corresponding indication unit within the predetermined area presents a second indication state; when the surgical tool is located at a third position of the target position, the corresponding indication unit within the predetermined area presents a third indication state.

[0021] In combination with the foregoing possible implementations, in a thirteenth possible implementation, when the surgical tool deviates from the target position in a predetermined direction, the corresponding indication unit in the predetermined area presents a third indication state.

[0022] In combination with the foregoing possible implementations, in a fourteenth possible implementation, the indicating unit is in a strip shape, a dot shape, or a block shape.

[0023] In combination with the foregoing possible implementation manners, in a fifteenth possible implementation manner, the second indication state is a color or brightness different from that of the first indication state.

[0024] The surgical system proposed in this application has a visual indication area along the surface of the actuator, and the indication unit of the visual indication area can indicate the relative position of the surgical tool and the anatomical tissue. The visual indication area and the surgical tool are both arranged on the actuator, and the visual indication area will not block the doctor's line of sight of the surgical tool. When performing the operation, the doctor does not need to look away from the surgical tool to observe the visual indication area, and the doctor can obtain the navigation information of the navigation system more conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a surgical system according to an embodiment of the present application;

[0026] Figure 2 The first actuator structure of the embodiment of the present application is shown in FIG. Figure 1 ;

[0027] Figure 3 The first indicator component of the embodiment of the present application is shown in FIG. Figure 1 ;

[0028] Figure 4 The first indicator component of the embodiment of the present application is shown in FIG. Figure 2 ;

[0029] Figure 5 The first indicator component of the embodiment of the present application is shown in FIG. Figure 3 ;

[0030] Figure 6 The first actuator structure of the embodiment of the present application is shown in FIG. Figure 2 ;

[0031] Figure 7 The first actuator structure of the embodiment of the present application is shown in FIG. Figure 3 ;

[0032] Figure 8 The internal structure of the indicator unit of the embodiment of the present application is shown in FIG. Figure 1 ;

[0033] Fig. 9 The internal structure of the indicator unit of the embodiment of the present application is shown in FIG. Figure 2 ;

[0034] Fig.10 The first indicator component of the embodiment of the present application is shown in FIG. Figure 4 ;

[0035] Fig.11 The first indicator component of the embodiment of the present application is shown in FIG. Figure 5 ;

[0036] Fig.12 The first indicator component of the embodiment of the present application is shown in FIG. Figure 6 ;

[0037] Fig.13 The first indicator component of the embodiment of the present application is shown in FIG. Figure 7 ;

[0038] Fig.14 The first indicator component of the embodiment of the present application is shown in FIG. Figure 8 ;

[0039] Fig.15 The first indicator component of the embodiment of the present application is shown in FIG. Figure 9 ;

[0040] Fig.16 This is a schematic diagram of the second actuator structure of the embodiment of the present application;

[0041] Fig.17 The second indicator component of the embodiment of the present application is shown in FIG. Figure 1 ;

[0042] Fig.18 The second indicator component of the embodiment of the present application is shown in FIG. Figure 2 ;

[0043] Fig.19 The second indicator component of the embodiment of the present application is shown in FIG. Figure 3 ;

[0044] Fig. 20 The second indicator component of the embodiment of the present application is shown in FIG. Figure 4 ;

[0045] Fig.21 This is a schematic diagram of the third actuator structure of the embodiment of the present application;

[0046] Fig. 22 The third indicator component of the embodiment of the present application is shown in FIG. Figure 1 ;

[0047] Fig.23 The third indicator component of the embodiment of the present application is shown in FIG. Figure 2 ;

[0048] Fig.24 The third indicator component of the embodiment of the present application is shown in FIG. Figure 3 ;

[0049] Fig.25 The third indicator component of the embodiment of the present application is shown in FIG. Figure 4 ;

[0050] Figure markings: 1-actuator, 2-saw blade, 3-saw blade interface, 4-indication component, 401-indication unit, 402-reference indication feature, 4011-internal light source, 4012-surface light-transmitting layer, 4013-light-guiding material, 4014-protective layer, 501-first indication interval, 502-second indication interval, 503-third indication interval, 600-robotic arm, 700-positioner, 800-controller, 900-display, 10-predetermined area, 101-completion area. DETAILED DESCRIPTION

[0051] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0053] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0054] The embodiment of the present application provides a surgical system. A surgical operation is performed by carrying a surgical tool on a robotic arm. The surgical tool is carried by an actuator, and the actuator is arranged at the end of the robotic arm. A visual indication area for displaying prompt information is arranged on the actuator. A reference prompt feature is arranged in the visual indication area as a reference, and the visual indication area includes a plurality of arranged indication units, and the indication unit has at least a switchable first indication state and a second indication state.

[0055] Among them, the surgical tools referred to in this application refer to instrumental devices that can be used in medicine to assist doctors in completing examinations or surgical operations. For example, they can be electric saws and saw blades used in total knee replacement surgery, but are not limited to this. They can also be pliers, drills, milling cutters, screwdrivers, expanders, implant inserters, etc.

[0056] The surgical system is provided with a locator, and in coordination with the locator, the actuator, the surgical tool, and the patient's anatomical tissue are all fixed with a tracer for calibrating their positions. The system obtains the position of the tracer through the locator and combines the known positional relationship between the tracer and the calibrated part to obtain the coordinate information of the actuator and / or surgical tool and the target position. The target position is associated with the anatomical tissue, for example, the target position can be the target osteotomy surface in a total knee replacement surgery. The coordinate information is used to calculate the spatial relationship information between the actuator and / or surgical tool and the target position.

[0057] As the key to navigation in surgical systems, locators can usually be implemented in optical or electromagnetic ways. For example, when a binocular camera is used as a locator and a reflective marker is used as a tracer, infrared light is emitted from the binocular camera end, which is reflected by the reflective marker used as the tracer and then returns to the binocular camera end for imaging, thereby enabling the locator to obtain the position of the tracer. Similarly, other devices that can obtain position can also be used for navigation, such as an electromagnetic receiver as a locator and an electromagnetic generator as a tracer to achieve positioning and navigation during surgery.

[0058] The surgical system is also provided with a controller, and a computer is usually used as the controller. The controller controls the display state of the visual indication area according to the obtained spatial relationship information. When the surgical tool has a certain positional relationship with the target position, the controller controls the corresponding indication unit to present a second indication state, and these indication units presenting the second indication state have a predetermined orientation relationship with the reference prompt feature. Among them, the predetermined orientation relationship is obtained after the controller processes and analyzes the spatial relationship information, and the obtained predetermined orientation relationship corresponds one to one with the orientation relationship of the surgical tool relative to the target position in the actual surgical space. The visual indication area displayed based on the predetermined orientation relationship indicates to the physician the state of the surgical tool relative to the target position. The physician can conveniently and intuitively observe the indication information while paying attention to the anatomical tissue to perform the surgical operation.

[0059] First, taking the total knee replacement surgery system as an example, the surgical tool used during the osteotomy surgery uses a high-speed oscillating saw blade.

[0060] Specific as Figure 1As shown, the surgical system includes a robotic arm 600, a locator 700, a tracer (not shown), a controller 800, and a display 900 for displaying surgical information. The robotic arm 600 serves as an action mechanism for performing surgical operations, and the actuator 1 is mounted at its end. The tracers are respectively fixed to the patient's femur, tibia, and the end of the robotic arm 600 and / or the surgical tool. The locator 700 obtains the coordinate information of the patient's femur, tibia, and saw blade 2 through the coordinate information of the tracer, providing a basis for surgical navigation positioning. The controller 800 controls the execution of surgical actions, the operation of internal control programs, and the display of various surgical information in the surgical system. In this embodiment, a binocular vision camera is used as the locator 700, and a reflective marker is used as a tracer for surgical navigation.

[0061] The surgical procedure performed using the surgical system specifically includes a positioning navigation stage and an osteotomy navigation stage. In the positioning navigation stage, the controller 800 controls the robot arm 600 to move the actuator 1 to the surgical site and the saw blade 2 to a predetermined position aligned with the target osteotomy surface. In the osteotomy navigation stage, the controller 800 controls the robot arm 600 to limit the movement range of the saw blade 2 within the target osteotomy surface, and the physician drives the saw blade 2 to perform the osteotomy operation by pulling the actuator 1. An indicating component 4 for indicating the deviation distance and deviation direction of the saw blade 2 relative to the target osteotomy surface is provided on the surface of the actuator 1.

[0062] like Figure 3-5 As shown, the indicating part 4 includes indicating units 401 and reference prompt features 402 arranged at equal intervals at a certain distance. The indicating units 401 and the reference prompt features 402 are both set as rectangular indicating bars, the reference prompt feature 402 is located in the middle of the indicating part 4, and the indicating units 401 are distributed along a straight line on both sides of the reference prompt feature 402, and the spacing is less than the width of the rectangular indicating bar. The length of the reference prompt feature 402 is longer than the length of the indicating unit 401. In addition, the rectangular indicating bar in the indicating part 4 is divided into three indicating intervals, wherein the first indicating interval 501 includes the reference prompt feature 402, two indicating units 401 on one side of the reference prompt feature 402, and two indicating units 401 on the other side; the second indicating interval 502 is located above and adjacent to the first indicating interval 501, and includes multiple indicating units 401; the third indicating interval 503 is located below and adjacent to the first indicating interval 501, and includes multiple indicating units 401.

[0063] The display status of the reference prompt feature 402 and the indication unit 401 in the indication component 4 is controlled by the controller 800. Under the control of the controller 800, when the system detects through the locator 700 that the position of the saw blade 2 coincides with or is located near the target osteotomy surface, the reference prompt feature 402 in the indication component presents a second indication state; when the position of the saw blade 2 is detected to be X mm above the target osteotomy surface, the nth indication unit 401 element corresponding to the reference prompt feature 402 in the indication component 4 presents a second indication state; when the position of the saw blade 2 is detected to be Y mm below the target osteotomy surface, the mth indication unit 401 element corresponding to the reference prompt feature 402 in the indication component 4 presents a second indication state.

[0064] In the specific control process, the controller 800 runs the system program of the robot-assisted navigation surgery. The program calculates the deviation value x according to the actual position of the saw blade 2 detected by the locator 700 and the position of the target osteotomy surface, and the program presets the basic deviation range δ, where the deviation value x is a vector, and its direction is indicated by positive and negative signs. The program feeds back the comparison value of the deviation value x and the basic deviation range δ to the controller 800 as display control data, and the controller 800 changes the state of the corresponding reference prompt feature 402 and / or the indication unit 401 accordingly. In order to indicate the osteotomy accuracy of the saw blade 2.

[0065] In this embodiment, the deviation range corresponding to the preset basic deviation δ is -0.2mm~0.2mm. When the deviation value x obtained by the locator 700 falls within the range of -0.2mm~0.2mm, the comparison value between the deviation value x and the basic deviation range δ is 0. The program feeds back the value 0 to the controller 800. The controller 800 makes the reference prompt feature 402 appear in a green highlighted state, which means that the actual position of the saw blade 2 basically overlaps with the target osteotomy surface and is an ideal tool position. The specific indication of the indicating component 4 is as follows: Figure 3 shown.

[0066] When the actual position of the saw blade 2 detected by the locator 700 and the calculated deviation value of the target osteotomy surface fall within 0.2mm~0.4mm, that is, the actual position of the saw blade 2 is located 0.2mm~0.4mm above the target osteotomy surface, the comparison value of the deviation value x and the basic deviation range δ is 1, and the program feeds back the value 1 to the controller 800, and the controller 800 makes the first indication unit 401 above the benchmark prompt feature 402 appear in a green highlighted state; when the actual position of the saw blade 2 detected by the locator 700 and the calculated deviation value of the target osteotomy surface fall within -0.4mm~-0.2mm, that is, the actual position of the saw blade 2 is located 0.2mm~0.4mm below the target osteotomy surface, the comparison value of the deviation value x and the basic deviation range δ is -1, and the program feeds back the value -1 to the controller 800, and the controller 800 makes the first indication unit 401 below the benchmark prompt feature 402 appear in a green highlighted state. It is understandable that the indication of the above-mentioned indication unit 401 indicates that the deviation between the actual position of the saw blade 2 and the target osteotomy surface is small, and the deviation range is within an acceptable range. Similarly, when the indication unit 401 or the reference prompt feature 402 in the first indication interval 501 is highlighted in green, it means that the deviation between the actual position of the saw blade 2 and the target osteotomy surface is small, which can meet the accuracy requirements of the operation, and in this case, the osteotomy can be performed normally.

[0067] Similarly to the above, when the actual position of the saw blade 2 detected by the locator 700 and the calculated deviation value of the target osteotomy surface fall within 1mm~1.2mm or -1.2mm~-1mm, that is, the actual position of the saw blade 2 is located 1mm~1.2mm above or 1mm~1.2mm below the target osteotomy surface, the comparison value of the deviation value x and the basic deviation range δ is 5 or -5, and the program feeds back the value 5 or -5 to the controller 800, and the controller 800 will make the fifth indication unit 401 above the benchmark prompt feature 402 appear in a yellow highlighted state or the fifth indication unit 401 below the benchmark prompt feature 402 appear in a yellow highlighted state, as shown in FIG. Figure 4 and Figure 5 As shown. It can be understood that when the rectangular indicator bar in the second indication interval 502 or the third indication interval 503 is in a yellow highlighted state, it means that there is a certain deviation between the actual position of the saw blade 2 and the target osteotomy surface. This deviation will affect the surgical accuracy. After observing this situation from the indicator component 4 of the actuator 1, the doctor should pull the actuator 1 to make subtle adjustments until the rectangular indicator bar in the first indication interval 501 is in a green highlighted state.

[0068] In summary, when the saw blade 2 and the target osteotomy surface are substantially coincident, the reference prompt feature 402 is highlighted in green; when the deviation distance between the saw blade 2 and the target osteotomy surface is within the first predetermined range, the corresponding indication unit 401 in the first indication interval 501 is highlighted in green; when the deviation distance between the saw blade 2 and the target osteotomy surface exceeds the first predetermined range and the saw blade 2 is located above the target osteotomy surface, the corresponding indication unit 401 in the second indication interval 502 is highlighted in yellow; when the deviation distance between the saw blade 2 and the target osteotomy surface exceeds the first predetermined range and the saw blade 2 is located below the target osteotomy surface, the corresponding indication unit 401 in the third indication interval 503 is highlighted in yellow. The indication component 4 thus indicates the deviation distance and deviation direction of the actual position of the saw blade 2 relative to the target osteotomy surface.

[0069] like Figure 2 As shown, a saw blade 2 for osteotomy in total knee replacement surgery is installed on the actuator 1. The saw blade 2 is in the shape of a long strip, and the end of the saw blade 2 that actually performs cutting is a saw tooth. The other end of the saw blade 2 is connected to the output end of the mechanical transmission device in the actuator 1 at the saw blade interface 3, and the input end of the mechanical transmission device is connected to the power device. The power device is usually set as a motor. After power is turned on, the motor starts to run, and the rotation output by the motor is converted into the swing of the output end of the mechanical transmission mechanism through the mechanical transmission mechanism. The saw blade 2 follows the output end to perform a swinging cutting action along the plane of the saw blade. The indication component 4 as a visual indication area is arranged on the surface of the actuator 1 body, parallel to and aligned with the saw blade 2. In some optional embodiments, the indication component 4 can be embedded in the surface of the actuator 1 body, or it can be attached to the surface of the actuator 1 body.

[0070] The reference prompt feature 402 and the indication unit 401 are arranged in a straight line, and the indication component 4 is rectangular as a whole. Figure 6 As shown, the straight line along which the reference prompt feature 402 and the indication unit 401 are arranged is consistent with the length direction of the saw blade 2. In other optional embodiments, such as Figure 7 As shown, the straight line along which the reference prompt feature 402 and the indication unit 401 are arranged is perpendicular to the length direction of the saw blade 2. The indication unit on the left side of the reference prompt feature is used to correspond to the top of the osteotomy plane in the surgical space. When this part of the reference prompt feature displays the second indication state, it indicates that the saw blade is located above the osteotomy plane. Similarly, the indication unit on the right side of the reference prompt feature is used to correspond to the bottom of the osteotomy plane in the surgical space. Of course, the position setting of the indication component 4 on the actuator 1 is not limited to the above-mentioned method. It is only necessary to ensure that the physician can easily observe the indication component 4 at the anatomical structure of concern.

[0071] In an optional embodiment, the light emitted by the rectangular indicator bar in the first indication interval 501 and the second indication interval 502 / third indication interval 503 divided by the rectangular indicator bar in the indication component 4 is not limited to green and yellow, and may also be other colors such as blue and purple. The color of the light emitted by the indicator unit 401 in the third indication interval 503 may also be different from the color of the light emitted by the indicator unit 401 in the second indication interval 502, as long as the colors of the light emitted by the rectangular indicator bars in adjacent indication intervals can be distinguished from each other.

[0072] In another optional embodiment, the number of indication intervals is not limited to three, and may be more, such as five. Similarly to the above, the fourth indication interval is located above and adjacent to the second indication interval 502, and includes a plurality of indication units 401. The indication units 401 in this area can emit a light color different from that of the indication units 401 in the second indication interval 502, such as red. Similarly, the fifth indication interval is located below and adjacent to the third indication interval 503, and includes a plurality of indication units 401. The indication units 401 in this area can emit a light color different from that of the indication units 401 in the third indication interval 503, such as red.

[0073] In an optional embodiment, the reference prompt feature 402 and the indicator unit 401 include an internal light source 4011 and a surface light-transmitting layer 4012, and the surface light-transmitting layer 4012 is made of a transparent material. The light emitted by the internal light source 4011 is transmitted to the surface light-transmitting layer through the light-guiding material 4013 for display. The internal light source 4011 in the reference prompt feature 402 and each indicator unit 401 is one or more light-emitting diodes, such as Figure 8 As shown, the internal light source of the internal structure of the indication unit 401 is composed of a plurality of light emitting diodes. It can be understood that the light emitted by the light emitting diodes is observed by the outside world through the surface light-transmitting layer 4011, and the surface light-transmitting layer 4011 is a window that actually displays the low-brightness or high-brightness state, and the shape of the surface light-transmitting layer 4011 determines the shape of the window. Based on this, since the shape of the surface light-transmitting layer 4011 used in this embodiment is rectangular, the reference prompt feature 402 and the indication unit 401 are both rectangular indicator bars.

[0074] The light emitting diodes used in this embodiment can be high temperature resistant components. The light emitting diodes inside the reference prompt feature 402 and the indicator unit 401 are sealed for protection. Fig. 9 As shown, the specific method is to use electronic potting glue to form a protective layer 4014 outside the light emitting diode for sealing protection. The high temperature resistance and sealing design can make the actuator 1 and the indicating component meet the clinical high temperature steam sterilization conditions.

[0075] In an optional embodiment, if Fig.10As shown, the display of the deviation of the saw blade 2 relative to the target osteotomy surface in the indication component 4 can be displayed by presenting a specific color and highlighting and color state through the reference prompt feature 402 and the multiple indication units 401 starting from the reference prompt feature 402. In another optional embodiment, as Fig.11 As shown, the deviation display can also be achieved by presenting a more prominent highlight state of a specific color in the corresponding indication unit 401 corresponding to the position of the saw blade 2 based on the reference prompt feature 402 and the multiple indication units 401 starting from the reference prompt feature 402 presenting a highlight state of a specific color.

[0076] like Fig.12 As shown, in an optional embodiment, the reference prompt feature 402a and the indicating unit 401a in the indicating component 4a are arranged in a straight line without any spacing. The reference prompt feature 402a and the indicating unit 401a have the same length but display a different brightness / color state from the indicating unit 401b.

[0077] In an optional embodiment, if Fig.13 As shown, the indicating component 4b is funnel-shaped and is composed of trapezoidal indicating bars of different shapes. The reference prompt feature 402b is located in the middle of the funnel, and the indicating units 401b are symmetrically arranged on both sides of the reference prompt feature 402b in a gradually increasing trend.

[0078] In an optional embodiment, if Fig.14 As shown, the reference prompt feature 402c and the indicating unit 401c in the indicating component 4c are both circular, wherein the radius of the reference prompt feature 402c is greater than the radius of the indicating unit 401c.

[0079] In an optional embodiment, if Fig.15 As shown, the indicating part 4d is a semicircle composed of rectangular indicating bars arranged along an arc, and three indicating intervals are divided in the circumferential direction. The reference prompt feature 402d is located in the middle of the semicircle, and the indicating units 401d are evenly arranged at a certain angle on both sides of the reference prompt feature 402d.

[0080] Secondly, in a computer-assisted total knee replacement surgery system, the surgical system needs to cut the patient's bones and remove a portion of the bones according to the planned target osteotomy surface, and the cutting process will form a cross section. The controller 800 can calculate the shape of the cross section after cutting based on the digital three-dimensional model of the bones and the surgical planning plan; the controller 800 can also calculate the contact condition between the saw blade and the bones during the cutting process, such as the cutting depth, orientation, etc., through the navigation system. An indication component 4e can be set on the actuator 1, and the indication component 4e can display the aforementioned cross section through an indication unit 401e with different indication states, and adjust the indication state of the indication unit 401e corresponding to the contact condition based on the contact condition between the saw blade 2 and the bones, so that the indication component 4e displays the real-time cutting condition.

[0081] Specifically, the locator 700 obtains spatial relationship information between the saw blade 2 and the cross section as the target area through the tracer, and the controller processes the spatial relationship information and controls the indicating component 4e to display indicating information indicating the progress of the saw blade 2 in removing the bone in the cross section. The visual indicating area is set on the actuator, close to the surgical tool, and located beside the line of sight of the doctor observing the surgical tool, so that the doctor can observe and obtain the bone removal situation.

[0082] like Fig.16 As shown, the indicating part 4e is arranged on the surface of the actuator 1 and is within the field of vision of the doctor when normally observing the surgical site. As shown in Figures 17-20, the indicating part 4e includes a plurality of indicating units 401e and a reference prompt feature 402e arranged along a plane, wherein a predetermined area 10 corresponding to the cross section of the target area is formed by some indicating units 401e in the indicating part 4e presenting the first indicating state and / or the second indicating state, and the reference prompt feature 402e is the boundary of the predetermined area 10.

[0083] Specifically, under the control of the controller, the first indication state is predetermined to be green, and the second indication state is predetermined to be white. Fig.17 As shown, when the saw blade does not enter the range of the cross section, the indicator units 401e in the predetermined area 10 are all green, which means that the bones corresponding to the first indicator units showing green on one side of the cross section are in a state to be removed. Fig.18 As shown, when the saw blade enters the bone area to be removed from the lower right side of the cross section, the part of the indicator unit 401e within the predetermined range of the lower right boundary of the predetermined area 10 changes from green to white, and the white indicator unit 401e forms a completed area 101. The completed area 101 corresponds to the area where the saw blade trajectory and the cross section overlap, indicating that the cross section position corresponding to this has been completed. The entire predetermined area 10 is white, that is, the completed area 101 overlaps with the predetermined area 10, which means that the osteotomy work of the cross section has been completed.

[0084] Since the width of the saw blade 2 is relatively small, generally smaller than the width of the cross section, in order to fully form the cross section, the saw blade 2 needs to be fed in multiple directions. In a certain direction of the saw blade 2 feeding, if the indicator units 401e in the corresponding direction in the predetermined area 10 have not all changed from green to white, it means that the saw blade 2 has not completed cutting in that direction, and it is necessary to continue to drive the saw blade 2 to feed in that direction until the status of the indicator units 401e in the corresponding direction are all white; if the indicator units 401e in the corresponding direction in the predetermined area 10 all change to white, it means that the saw blade has completed cutting in that direction, and it is necessary to change the feeding direction of the saw blade to achieve cutting in other areas on the cross section; Fig.19 As shown, when all the indicator units 401e in the predetermined area 10 are white, it means that the entire osteotomy surface has been cut, and the doctor needs to end the osteotomy within the target osteotomy surface and continue to replace the target osteotomy surface until the preparation of all cross sections in the operation is completed.

[0085] In a specific surgical procedure, since the saw blade 2 performs osteotomy within an ideal target osteotomy plane, the saw blade's vibration or the influence of external forces such as the mechanical arm and the doctor's force make it difficult to completely ensure that the plane actually cut by the saw blade coincides with the target osteotomy plane. In an optional embodiment, under the control of the controller, the indication unit 401e in the predetermined area can also present a third indication state, for example, Fig. 20 As shown, when the saw blade performs osteotomy and the actual cutting surface of the saw blade is above the target osteotomy surface and the bone is not completely removed, the corresponding indication unit 401e in the predetermined area 10 presents a third indication state, such as yellow; when the actual cutting surface of the saw blade is below the target osteotomy surface and excessive bone is removed, the corresponding first indication unit in the predetermined area presents a third indication state or a fourth indication state, such as yellow or red.

[0086] In the third aspect, in the computer-assisted hip surgery, as in the surgical system described in the first aspect, the system also includes a robot arm 600, a positioner 700, a tracer (not shown), a controller 800, and a display 900 for displaying surgical information. The robot arm 600 is used as an action mechanism for performing surgical operations, and the actuator 1 is mounted at its end. The surgical tool used in the preparation of the acetabular fossa is an acetabular grinding tool.

[0087] In order to ensure the accurate installation of the acetabular prosthesis, the grinding of the acetabular socket by the acetabular grinding needs to be accurately and strictly monitored. During the operation, the preset acetabular socket surface as the target contour needs to be prepared by acetabular grinding. In order to intuitively display the relative position relationship between the acetabular grinding and the preset acetabular socket surface, an indication component 4f is set on the actuator 1 as a visual indication area. The locator 700 obtains the spatial relationship information between the acetabular grinding and the preset acetabular socket surface as the target contour through the tracer. The controller 800 processes the spatial relationship information and controls the indication component 4f to display the grinding condition of the acetabular grinding in the acetabular socket. The physician can easily observe the information displayed in the reference indication component 4f to complete the preparation of the acetabular socket.

[0088] like Fig.21 As shown, the indicator component 4f is arranged on the surface of the actuator 1 and is located within the field of vision of the doctor when he normally observes the surgical site. Figure 22-24 As shown, the indication component 4f includes a plurality of indication units 401f and reference prompt features 402f arranged along a plane, and some indication units 401f form a predetermined area 10a corresponding to the above-mentioned preset acetabular surface by presenting a first indication state and / or a second indication state. The reference prompt feature 402e is the boundary of the predetermined area 10a.

[0089] Specifically, under the control of the controller 800, the predetermined first indication state is green and the second indication state is white. When the acetabular grinding file enters along the axis of the acetabular fossa but does not reach the preset acetabular fossa surface, part of the indication unit 401f in the predetermined area 10a is green, and the green indication unit 401f represents the bone to be ground on the preset acetabular fossa surface, such as Fig. 22 The illustrated example shows a situation where all the indicating units 401f in the predetermined area 10a are green. Fig.23 As shown, when the acetabular grinding enters along the axis of the acetabular socket and reaches the preset acetabular socket surface, the green indicating unit turns white, which indicates that the preset acetabular socket surface has been prepared through the grinding of the acetabular grinding.

[0090] In an optional embodiment, when the system detects that the preset contour of the acetabular grinding exceeds the predetermined acetabular surface, the indication unit 401f corresponding to the excessively cut bone in the predetermined area 10a presents a third indication state, such as red. Fig.24 The figure shows that the acetabulum is excessively cut due to severe grinding, so that the indicator unit 401f in the entire predetermined area 10a is all red. Of course, there is also a situation where the acetabulum surface is excessively cut relative to the preset surface, such as Fig.25As shown, the problem of excessive cutting on one side occurs because the acetabular grinding is not strictly fed in the axial direction of the acetabular fossa. The indicator component 4f is close to the acetabular grinding on the actuator 1, and the doctor can observe the indicator component 4f while observing the acetabular grinding, and the doctor can know in time when the acetabular grinding has excessive grinding.

[0091] In addition, the indication unit 401e and the indication unit 401f in the visual indication are the same as the reference prompt feature 402 and the indication unit 401, and a high-temperature resistant light-emitting diode can be used as the internal light source and sealed. The specific feasible setting method is the same as the reference prompt feature 402 and the indication unit 401, and will not be repeated here.

[0092] Although the present application has been described in detail above with general descriptions and specific implementation schemes, it is obvious to those skilled in the art that some modifications or improvements can be made to the present application. Therefore, these modifications or improvements made without departing from the spirit of the present application are within the scope of protection claimed in the present application.

Claims

1. A surgical system for treating anatomical tissue by means of a surgical tool, characterized in that: include: an actuator for carrying the surgical tool, the actuator comprising a visual indication area having a reference prompt feature, the visual indication area comprising a plurality of arranged indication units, the indication units having at least a switchable first indication state and a second indication state; A mechanical arm, used for holding the actuator; a positioner for acquiring coordinate information of the actuator and / or surgical tool and a target position, wherein the target position is associated with anatomical tissue, and wherein the coordinate information is used to calculate spatial relationship information between the actuator and / or surgical tool and the target position; a controller, configured to control an indication unit having a predetermined orientation relationship with the reference prompt feature to present the second indication state to indicate a state of the surgical tool relative to the target position according to the spatial relationship information; The locator is also used to obtain spatial relationship information between the surgical tool and the target area or target contour, and part of the indication unit is used to present the first indication state and / or the second indication state to form a predetermined area corresponding to the target area or target contour, and the benchmark prompt feature is the boundary of the predetermined area. The controller is also used to process the spatial relationship information and control the indication unit to display indication information indicating that the surgical tool is in the target area or target contour.

2. The surgical system according to claim 1, characterized in that: The predetermined orientation relationship includes a distance relationship and a direction relationship.

3. The surgical system according to claim 2, characterized in that: The distance relationship is: the distance to the reference prompt feature is equal to or less than one or more values ​​corresponding to the spatial relationship information.

4. The surgical system according to claim 2, characterized in that: The directional relationship is that the indication unit presenting the second indication state is located on one side of the two sides of the reference prompt feature.

5. The surgical system according to claim 1, characterized in that: The spatial relationship is the relative position relationship between the surgical tool plane and the target plane.

6. The surgical system according to claim 5, characterized in that: The reference prompt feature has a logo or a shape and size that are different from the indication unit, and the indication units are arranged along a straight line or a curve on both sides of the reference prompt feature.

7. The surgical system according to claim 5, characterized in that: When the controller is used to control the indication unit having a predetermined orientation relationship with the reference prompt feature to present the second indication state to indicate the state of the surgical tool relative to the target position according to the spatial relationship information, the visual indication area is preset to multiple indication intervals, and the multiple indication intervals are set to each indicate a second indication state, and the indication units in adjacent intervals have different second indication states.

8. The surgical system according to claim 7, characterized in that: The multiple indication intervals include at least: A first indication interval includes the benchmark prompt feature and an indication unit within a predetermined range of the benchmark prompt feature; a second indication interval, adjacent to the first indication interval in the first direction, comprising at least one indication unit, wherein the distance between the indication unit and the reference prompt feature is within a first distance range; and The third indication interval is adjacent to the first indication interval in the second direction and includes at least one indication unit, wherein the distance between the indication unit and the reference prompt feature is within a second distance range.

9. The surgical system according to claim 1, characterized in that: The reference prompt feature is a reference boundary that can form a predetermined area.

10. The surgical system according to claim 9, characterized in that: The spatial relationship is the overlap relationship between the preset area of ​​the surgical tool and the target area.

11. The surgical system according to claim 9, characterized in that: The spatial relationship is the distance relationship between the preset contour of the surgical tool and the target contour.

12. The surgical system according to claim 9, characterized in that: The indication unit further has a third indication state, which is different from the first indication state and the second indication state.

13. The surgical system according to claim 12, characterized in that: When the surgical tool is located at a first orientation of the target position, the corresponding indication unit in the predetermined area presents a first indication state; When the surgical tool is located at a second orientation of the target position, the corresponding indication unit in the predetermined area presents a second indication state; When the surgical tool is located at a third position of the target location, the corresponding indication unit in the predetermined area presents a third indication state.

14. The surgical system according to claim 12, characterized in that: When the surgical tool deviates from the target position in a predetermined direction, the corresponding indication unit in the predetermined area presents a third indication state.

15. The surgical system according to claim 1, characterized in that: When the controller is used to control the indicating unit having a predetermined orientation relationship with the reference prompt feature to present the second indicating state according to the spatial relationship information to indicate the state of the surgical tool relative to the target position, the indicating unit is in the shape of a bar; when the locator is used to obtain the spatial relationship information between the surgical tool and the target area or target contour, part of the indicating unit is used to present the first indicating state and / or the second indicating state to form a predetermined area corresponding to the target area or target contour, the reference prompt feature is the boundary of the predetermined area, and the controller is used to process the spatial relationship information and control the indicating unit to display the indicating information indicating that the surgical tool is in the target area or target contour, and the indicating unit is in the shape of a block.

16. The surgical system according to claim 1, characterized in that: The second indication state is a color or brightness different from the first indication state.

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