A rail-based surgical assistance system and method

Abstract

The present application relates to a kind of around rail type surgical auxiliary system and method.The system at least includes the annular floor track arranged around operating table.Multiple degree of freedom mechanical arm moves along annular floor track and is configured to perform the freedom operation in horizontal and / or vertical plane.Multiple degree of freedom mechanical arm is instructed to move along the annular floor track and is instructed to drive to complete the movement of several degrees of freedom.The present application improves the accuracy of risk identification in the process of surgery by the detection warning of multiple degree of freedom mechanical arm in around rail type surgical auxiliary system and the active warning of medical staff.Around rail type surgical auxiliary system is used for the taking and arrangement of surgical instrument on the one hand, and is used for recording the whole process of surgery on the other hand, and the relevant surgical data recorded is identified and judged, so as to form multi-direction, multi-angle warning system in operating room.

Description

Technical Field

[0001] This invention relates to the field of surgical assistance technology, and in particular to a track-based surgical assistance system and method. Background Technology

[0002] Surgical robots are now a crucial component of medical devices. Compared to traditional surgeries where doctors operate entirely by hand, surgical robots can assist doctors in completing the surgical procedure, thereby improving the accuracy and controllability of the surgery and shortening the operation time.

[0003] Increasing the range of motion of surgical robots allows their end effectors to reach various desired positions and postures within the workspace, meeting the requirements of more surgical procedures and helping to reduce the risk of iatrogenic trauma during surgery. During surgery, various medical tools are often used, such as scalpels of different sizes and uses, syringes, gauze, cotton swabs, and tourniquets. Surgeons often need assistants to pass these tools to and from the surgeon. Therefore, designing a surgical robot that can replace human assistants in performing numerous tasks such as tool delivery, placement, and recording of the treatment process is of great significance.

[0004] Existing surgical aids lack the ability to assess surgical risks and handle potential accidents during surgery. As the surgical process progresses and the surgical environment changes, the factors that could lead to surgical accidents increase. Existing robotic arm-type aids are unable to make accurate judgments and provide early warnings, and medical staff also find it difficult to operate the aids to respond appropriately in a short period of time.

[0005] Chinese Patent CN112245012A discloses a surgical robot safety monitoring device and a surgical robot system. The surgical robot safety monitoring device includes: a controller for acquiring the force value at the distal point of the surgical robot and determining whether the force value exceeds a preset threshold; and an alarm connected to the controller for outputting an alarm message when the force value exceeds the preset threshold. This surgical robot safety monitoring device monitors the force at the distal point in real time through force control. When the force at the distal point exceeds the preset threshold, it outputs an alarm message to alert the surgeon of a potential danger, allowing the surgeon to intervene promptly and prevent the distal point from shifting, tearing the patient's incision, and causing secondary injury. Therefore, it ensures patient safety. The surgical robot system, including the aforementioned surgical robot safety monitoring device, has the above-mentioned beneficial effects and high safety. However, the patent's drawback lies in its inability to address the complexities of surgical procedures by using a virtual telecentric point for risk assessment to prevent secondary injuries to patients caused by instrument movement. This approach struggles to handle various situations, including potential mechanical malfunctions of the robot and the risk of instruments falling due to instability. Consequently, the safety monitoring device cannot provide timely warnings in the event of an accident. Furthermore, the patent cannot manage surgical instruments, making it difficult to replace human intervention in tasks such as instrument handling, storage, and recording of the treatment process. Consequently, it cannot provide warnings for unexpected events such as instrument drops or depletion of surgical supplies.

[0006] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a track-based surgical assistance system, comprising at least: a circular floor track arranged around an operating table, wherein a multi-degree-of-freedom robotic arm moves circumferentially along the circular floor track and is configured to perform degree-of-freedom operations in the horizontal and / or vertical planes. The multi-degree-of-freedom robotic arm moves along the circular floor track via commands and completes several degrees of freedom movements via commands. The circular floor track of this invention is arranged around the operating table used for surgical operations, enabling the multi-degree-of-freedom robotic arm to move circumferentially around the operating table along the circular floor track. This allows for adjustment of the relative position of the multi-degree-of-freedom robotic arm based on the circular floor track to facilitate the handover and replacement of surgical instruments by operators at various points around the operating table. This invention proposes a track-based surgical assistance system and method, used in conjunction with the surgeon's chair, to perform numerous tasks such as handing over, receiving, and storing tools, and recording the treatment process, thus replacing an assistant to a certain extent.

[0008] According to a preferred embodiment, the multi-degree-of-freedom robotic arm is supported at least by a worktable, so that the multi-degree-of-freedom robotic arm moves along the annular landing track when the worktable moves around the track. Specifically, a first engaging component of the worktable meshes with a second engaging component of the annular landing track, such that the rotational torque of the first engaging component is applied to the second engaging component to propel the worktable around the track. The first and second engaging components are driven by a double-rail system with an intermediate rack and pinion mechanism. The worktable on the guide rail can move around the track under the action of the meshing transmission, ensuring that the surgical robot has a larger operating space, making the overall operation more flexible, and minimizing singularities as much as possible.

[0009] According to a preferred embodiment, a first guide rail assembly is provided on the radially outer side of the second engagement component, and a second guide rail assembly is provided on the radially inner side of the second engagement component. The worktable is provided with at least two sliders coupled to the first and second guide rail assemblies. These sliders limit the movement of the first engagement component along the orbit of the second engagement component, thereby limiting the orbital movement of the worktable. The circumferential movement limitation provided by the sliders in this invention allows the worktable to move smoothly in a circular path, increasing the overall degree of freedom of the mechanism and better adapting to the doctor's position. Surgical instruments can be added or removed by controlling the posture of the end effector.

[0010] According to a preferred embodiment, the multi-degree-of-freedom robotic arm is mounted on a fixed base. The fixed base and the worktable at its bottom opening enclose each other to form a movable support assembly for driving the multi-degree-of-freedom robotic arm in a circular motion. The fixed base secures the multi-degree-of-freedom robotic arm to the worktable, and the movement of the worktable drives the movement of the multi-degree-of-freedom robotic arm. The fixed base provides the required height for the multi-degree-of-freedom robotic arm, enabling it to be used for multi-level object retrieval and placement, accommodating the natural arm-hanging position of a seated human for the retrieval of surgical instruments, and increasing the stability of the multi-degree-of-freedom robotic arm during orbital movement.

[0011] According to a preferred embodiment, a drive motor, coupling, and transmission shaft are disposed within the cavity formed by the fixed base and the worktable, for driving the multi-degree-of-freedom robotic arm to move along the circumferential landing track as instructed. The output of the drive motor drives a first meshing component and a second meshing component mounted on the base through gear and rack transmission via rotational torque. The drive motor is positioned within the cavity formed by the fixed base, thereby confining the drive motor to the worktable and ensuring stable connection of the components.

[0012] According to a preferred embodiment, a fixing block disposed on the worktable is connected to the worktable in such a way that the drive motor is restricted to the vertical axis of the worktable. When the drive motor is activated, the first engagement component, based on the torque of the drive motor, engages and rotates along the vertical axis of the worktable in a manner that transmits engagement with the second engagement component, causing at least two of the sliders to rotate in a limited manner along the first guide rail assembly and the second guide rail assembly, respectively. The transmission engagement between the first engagement component and the second engagement component, and the sliding limitation between the two sliders and the first and second guide rail assemblies, enable the worktable to move stably around the annular floor track without interference.

[0013] According to a preferred embodiment, the output end of the drive motor is connected to the coupling below the fixing block through an opening in the fixing block, and a bearing is disposed below the coupling. The drive shaft is connected to the first meshing component, which meshes with the second meshing component, at least through a central hole that passes through the coupling and the bearing and communicates with each other. The coupling and the bearing ensure that the first and second meshing components rotate in the same direction when they are engaged, preventing disengagement, and also provide overload protection to prevent the first and second meshing components from being subjected to excessive loads during engagement.

[0014] According to a preferred embodiment, the drive shaft serves at least as the drive shaft of the first meshing assembly, so that, driven by the torque provided at the output end of the drive motor, power is transmitted to the drive shaft via the coupling and bearing, thereby connecting with the first meshing assembly that meshes with the second meshing assembly. This invention achieves circumferential fixation between the drive shaft and the first meshing assembly through a keyed connection to transmit motion and torque, thereby enabling the rotation of the first meshing assembly to drive the entire worktable to move along a circular floor track around the operating table.

[0015] According to a preferred embodiment, when the drive motor is started, a retaining ring disposed between the coupling and the bearing at least restricts the axial movement of the coupling and the bearing relative to each other in a manner that limits or prevents the axial movement of the parts on the shaft or in the hole. The retaining ring functions similarly to a retaining ring or snap ring, and can be used to limit or prevent the axial movement of the parts on the shaft or in the hole, thereby preventing uncontrollable offset of the components on the worktable during movement, which could lead to component damage.

[0016] This invention also relates to a track-based surgical assistance method, the method comprising at least one or more of the following steps: a multi-degree-of-freedom robotic arm performs circumferential motion along a circular landing track and is configured to perform degree-of-freedom operations in a horizontal and / or vertical plane; the multi-degree-of-freedom robotic arm moves along the circumferential landing track via commands and is driven by commands to complete several degrees of freedom movements; the multi-degree-of-freedom robotic arm is supported at least by a worktable, so that the worktable moves along the circumferential landing track, thereby driving the multi-degree-of-freedom robotic arm to move. Specifically, a first engaging component of the worktable engages with a second engaging component of the circumferential landing track so that the rotational torque of the first engaging component is applied to the second engaging component to drive the worktable to move along the track.

[0017] According to a preferred embodiment, the system further includes a first analysis unit, a second analysis unit, and a third analysis unit. The first analysis unit generates a real-time data model based on multi-source operational data collected by sensors mounted on the circular landing track and / or the multi-degree-of-freedom robotic arm. The second analysis unit compares the real-time data model with a pre-established reference data model and marks data in the real-time data model that cannot match the reference data model. The third analysis unit retrieves and compares the pre-time-series data uploaded by the sensors stored in the first analysis unit with the reference data model to analyze the operational risks of the system in the time series. This invention improves the accuracy of risk identification during surgery through the detection and early warning of the multi-degree-of-freedom robotic arm in the track-based surgical assistance system and the proactive early warning by medical personnel. The track-based surgical assistance system is used for both the retrieval and organization of surgical instruments and the recording of the entire surgical process. It also identifies and judges the recorded surgical data, thereby forming a multi-directional, multi-angle early warning system in the operating room.

[0018] According to a preferred embodiment, the third analysis unit retrieves the corresponding pre-time series data uploaded by the sensors stored in the first analysis unit based on the data marked by the second analysis unit, so as to display and remind medical personnel of the analysis results and response plans through the display panel, thereby making it easier for medical personnel to grasp the progress of the operation, avoid possible surgical accidents, and take accident avoidance measures in advance.

[0019] According to a preferred embodiment, the third analysis unit further retrieves pre-time series data from the sensor-uploaded pre-time series data stored in the first analysis unit according to the time series based on the medical staff's active activation behavior; the third analysis unit actively establishes a pre-time series data model according to the time series based on the medical staff's active activation behavior, and then determines whether the data in the time series matches the data before the active activation behavior by comparing the pre-time series data model with a reference data model. Medical staff perform active activation behavior through short-term subjective judgment, thereby combining the judgment of auxiliary equipment with active judgment, and improving the accuracy of surgical risk identification through human-computer interaction.

[0020] According to a preferred embodiment, when the data within the time series matches the data prior to the occurrence of the active activation behavior, the third analysis unit determines that an abnormality has occurred in the surgery, thereby issuing an early warning to medical personnel. The third analysis unit updates a pre-established reference data model using the pre-time series data of the time series, allowing the updated parameter data model to select similar pre-time series data, thus identifying similar data and abnormalities during subsequent surgeries. Additional sensing components are used to detect the operating room environment, patient vital sign stability, surgical instrument consumption, and changes in these parameters. This facilitates the system's ability to judge unexpected events during the surgical process from changes in several parameters within a complex environment, thereby more effectively analyzing and judging abnormalities during the surgical process and whether they will cause surgical risks.

[0021] According to a preferred embodiment, the second analysis unit uses mismatched anomaly data to label the time-series data. When related anomalies occur during subsequent surgeries, an updated reference data model is built using the time-series data. This updated reference data model replaces or supplements the previously established reference data model. The real-time data model and reference data model matching characterization system determines that there is no surgical risk in the operating room and surgical procedure within the time series. The instruments and patient's vital signs within the operating room are within a controllable range. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a surgical assistance robot according to a preferred embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a surgical assistance robot according to a preferred embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of an operating table according to a preferred embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a multi-degree-of-freedom robotic arm according to a preferred embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the base according to a preferred embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the first guide rail assembly according to a preferred embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the structure of the second engagement component according to a preferred embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the structure of the second guide rail assembly according to a preferred embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram of the structure of a fixing base according to a preferred embodiment of the present invention;

[0031] Figure 10 This is a structural cross-sectional view of a drive mechanism according to a preferred embodiment of the present invention;

[0032] Figure 11 This is a schematic diagram of the structure of a fixing block according to a preferred embodiment of the present invention;

[0033] Figure 12 This is a schematic diagram of the structure of a coupling according to a preferred embodiment of the present invention;

[0034] Figure 13 This is a schematic diagram of the slider according to a preferred embodiment of the present invention;

[0035] Figure 14 This is a schematic diagram of a preferred embodiment of the snap ring provided by the present invention;

[0036] Figure 15 This is a schematic diagram of the structure of a bearing according to a preferred embodiment of the present invention;

[0037] Figure 16 This is a schematic diagram of the structure of the first meshing component according to a preferred embodiment of the present invention;

[0038] Figure 17 This is a schematic diagram of the structure of a workbench according to a preferred embodiment of the present invention;

[0039] Figure 18 This is a schematic diagram of the transmission shaft according to a preferred embodiment of the present invention.

[0040] List of reference numerals

[0041] 2: Operating table; 3: Multi-degree-of-freedom robotic arm; 4: Base; 5: First guide rail assembly; 6: Second meshing assembly; 7: Second guide rail assembly; 8: Fixing seat; 9: Drive motor; 10: Fixing block; 11: Coupling; 12: Slider; 13: Snap ring; 14: Bearing; 15: First meshing assembly; 16: Worktable; 17: Drive shaft. Detailed Implementation

[0042] The following is a detailed explanation with reference to the accompanying drawings.

[0043] Example 1

[0044] like Figure 1 and Figure 2 As shown, this invention provides a track-based surgical assistance system, comprising at least an operating table 2, a multi-degree-of-freedom robotic arm 3, a base 4, and a circular floor track. The operating table 2 is in the shape of a traditional operating table and is fixed to the base 4. Both the multi-degree-of-freedom robotic arm 3 and the circular floor track are mounted on the base 4, allowing the multi-degree-of-freedom robotic arm 3 to move freely along the circular floor track due to the fixation effect of the base 4. A fixed seat 8 is mounted on the worktable 16 and coupled to the multi-degree-of-freedom robotic arm 3, thereby controlling the movement of the multi-degree-of-freedom robotic arm 3 and ultimately achieving free movement of the multi-degree-of-freedom robotic arm 3 on the base 4. The worktable 16 is mounted on the base 4 and coupled to the circular floor track, thereby driving the multi-degree-of-freedom robotic arm 3 and the fixed seat 8 to move actively. For example, the vertical bottom end of the worktable 16 is coupled to the circular floor track and is equipped with a drive motor 9, which enables the worktable 16 to move in a circular motion relative to the circular floor track. The operating table 2 can be set in the center of the circular floor track, so that the patient can be placed on the operating table 2 and the multi-degree-of-freedom robotic arm 3 can work around the operating table 2.

[0045] According to a preferred embodiment, the robot for surgical assistance provided by the present invention may include a movable multi-degree-of-freedom robotic arm 3 for grasping and delivering surgical instruments and a circular landing track for guiding the multi-degree-of-freedom robotic arm 3 to move around an operating table 2. Specifically, the operating table 2 may be as follows: Figure 3 The operating table shown.

[0046] According to a preferred embodiment, such as Figure 1 As shown, a movable multi-degree-of-freedom robotic arm 3 for grasping and delivering surgical instruments and a circular floor track for guiding the multi-degree-of-freedom robotic arm 3 to move around the operating table 2 are arranged on the surface of the base 4. Specifically, the specific structure of the base 4 can be found in [reference needed]. Figure 5 Furthermore, a movable multi-degree-of-freedom robotic arm 3 for grasping and delivering surgical instruments is operably attached to a circular landing track. The circular landing track is arranged around the operating table 2 used to perform surgical operations, allowing the multi-degree-of-freedom robotic arm 3 to move circumferentially around the operating table 2 along the circular landing track. This allows the relative position of the multi-degree-of-freedom robotic arm 3 to be adjusted based on the circular landing track to facilitate the handover and replacement of surgical instruments by operators at various points around the operating table 2.

[0047] According to a preferred embodiment, such as Figure 1As shown, the annular landing track used to provide the path for the multi-degree-of-freedom robotic arm 3 to move around the operating table 2 comprises at least a first guide rail assembly 5, a second engagement assembly 6, and a second guide rail assembly 7. The second guide rail assembly 7 is located radially inside the second engagement assembly 6, while the first guide rail assembly 5 is located radially outside the second engagement assembly 6. Specifically, the specific structure of the first guide rail assembly 5 can be found in [reference needed]. Figure 6 For the specific structure of the second meshing component 6, please refer to [link / reference needed]. Figure 7 For details on the structure of the second guide rail assembly 7, please refer to [link / reference]. Figure 8 .

[0048] According to a preferred embodiment, in this invention, a movable multi-degree-of-freedom robotic arm 3 is mounted on a worktable 16. Preferably, the multi-degree-of-freedom robotic arm 3 can be a six-degree-of-freedom robotic arm; for details, please refer to [reference needed]. Figure 4 Preferably, the worktable 16 may include a drive motor 9, a coupling 11, a first engagement assembly 15, and a drive shaft 17. A mounting base 8 is disposed vertically above the worktable 16 to support the multi-degree-of-freedom robotic arm 3. The mounting base 8 is generally a rectangular frame with an open bottom to support the multi-degree-of-freedom robotic arm 3 above the worktable 16. Specifically, the multi-degree-of-freedom robotic arm 3 may be disposed at the top of the mounting base 8 and near one end of the operating table 2. Further, the mounting base 8 and the worktable 16 with its open bottom can be enclosed to form a movable support assembly for supporting and fixing the multi-degree-of-freedom robotic arm 3.

[0049] According to a preferred embodiment, such as Figure 2 and Figure 13 As shown, a pair of sliders 12 are respectively provided at both ends of the bottom of the worktable 16. The two pairs of sliders 12 can be slidably coupled to the first guide rail assembly 5 and the second guide rail assembly 7, so that the sliders 12, the worktable 16 and the fixed base 8 can be driven to move along the annular ground track, thereby driving the multi-degree-of-freedom robotic arm 3 to move around the operating table 2.

[0050] According to a preferred embodiment, such as Figure 2 and Figure 10 As shown, a drive assembly for moving the movable support assembly or gripping assembly is disposed within the cavity formed by the fixed base 8 and the worktable 16. Specifically, the drive assembly includes a drive motor 9, a coupling 11, and a first engagement assembly 15, all mechanically coupled to each other. More specifically, the drive motor 9 is disposed in the generally central region of the worktable 16. In particular, the drive motor 9 is located in the cavity between the fixed base 8 and the worktable 16.

[0051] According to a preferred embodiment, such as Figure 2 and Figure 10As shown, the drive motor 9 can be fixed to the worktable 16 by the fixing block 10. Specifically, the fixing block 10 is a rectangular frame with a bottom opening similar to the mounting base 8. The fixing block 10 can be fixed to the surface of the worktable 16 using fasteners such as bolts. For the specific structure of the fixing block 10, please refer to [reference needed]. Figure 11 Specifically, the fixed base 8 and the worktable 16 can be fastened together by four locking screws. Furthermore, the fixed block 10 of the drive motor 9 and the worktable 16 can be fastened together by four locking screws.

[0052] According to a preferred embodiment, the top surface of the fixing block 10 has an opening. The drive shaft or motor shaft of the drive motor 9 is connected to the coupling 11 below the fixing block 10 through the opening on the top surface of the fixing block 10. In particular, the specific structure of the coupling 11 can be found in [reference needed]. Figure 12 .

[0053] According to a preferred embodiment, such as Figure 2 As shown, a bearing 14 is disposed below the coupling 11. Specifically, the detailed structure of the bearing 14 can be found in [reference needed]. Figure 15 .

[0054] According to a preferred embodiment, such as Figure 12 and Figure 15 As shown, the coupling 11 and bearing 14 have interconnected holes at their centers. Further, the hole at the center of bearing 14 is configured to allow the drive shaft 17 to pass through, enabling the drive shaft 17 to pass through the worktable 16 and connect with the first meshing assembly 15, which meshes with the second meshing assembly 6. For example, the first meshing assembly 15 is a gear, and the second meshing assembly is a rack. Another example is that the first meshing assembly 15 is a cylindrical gear, and the second meshing assembly is a ring rack. Alternatively, in this invention, the coupling 11 is installed as follows: the upper part is connected to the motor shaft of a servo motor (such as drive motor 9), and the lower end is connected to the drive shaft 17 with a bearing 14 and a retaining ring 13, and secured with locking screws. For example, the drive shaft 17 is a gear shaft. Specifically, the specific structure of the drive shaft 17 can be found in [reference needed]. Figure 18 .

[0055] According to a preferred embodiment, the drive shaft 17 can serve as the drive shaft of the first meshing component 15. Under the drive of the drive motor 9, the rotational torque provided by the motor shaft of the drive motor 9 can be transmitted to the drive shaft 17 through the coupling 11 and bearing 14, allowing the first meshing component 15, which meshes with the second meshing component 6, to rotate. This rotation of the first meshing component 15 then drives the entire gripping platform to move along the annular landing track around the operating table 2. Specifically, in this invention, the installation method of the first meshing component 15 is as follows: the first meshing component 15 and the drive shaft 17 are connected by a key to achieve circumferential fixation between the drive shaft 17 and the first meshing component 15 to transmit motion and torque. In particular, the specific structure of the first meshing component 15 can be found in [reference needed]. Figure 16 .

[0056] According to a preferred embodiment, such as Figure 2 and Figure 14 As shown, a retaining ring 13 may be provided between the coupling 11 and the bearing 14. The retaining ring 13 functions similarly to a retaining ring or snap ring, and can be used to restrict or prevent axial movement of parts on the shaft or in the hole. Specifically, in this invention, the retaining ring 13 can be used to restrict the axial movement of the coupling 11 and the bearing 14 relative to each other. In particular, the specific structure of the retaining ring 13 can be found in [reference needed]. Figure 14 .

[0057] According to a preferred embodiment, the system operates as follows: the drive motor 9 drives the first meshing component 15 to perform gear and rack transmission with the second meshing component 6 installed on the base 4. The two sliders 12 are respectively engaged in the first guide rail component 5 and the second guide rail component 7 and can move smoothly around this annular track, which increases the degree of freedom of the overall mechanism and can better adapt to the position of the doctor. Surgical instruments can be added or removed by controlling the posture of the end clamp.

[0058] According to a preferred embodiment, the surgical-assisted robot of the present invention may further include several sensors and a controller. Specifically, the sensors may collect operating parameter signals of the drive motor 9. Alternatively, the sensors may collect motion state parameter signals of the multi-degree-of-freedom robotic arm 3. Alternatively, the sensors may collect the distance between the grasping platform and the operating table 2, etc. On the other hand, the controller may be used to control the working state of the drive motor 9, to control the start and stop of the drive motor 9, and to adjust the movement direction, speed, etc. of the entire grasping platform through the drive motor 9. Alternatively, the controller may be used to control the motion mode of the multi-degree-of-freedom robotic arm 3, including the movement direction, distance, and speed of the multi-degree-of-freedom robotic arm 3 in the horizontal and vertical planes, etc.

[0059] According to a preferred embodiment, the overall mechanism operates as follows: a servo motor (drive motor 9) drives the first meshing component 15 to perform gear and rack transmission with the second meshing component 6 installed on the base 4. The two sliders 12 are respectively engaged in the first guide rail component 5 and the second guide rail component 7 to move, so that the entire mechanism can move smoothly around this annular track, increasing the degree of freedom of the overall mechanism and better adapting to the position of the doctor. Surgical instruments can be added or removed by controlling the posture of the end clamp.

[0060] According to a preferred embodiment of the present invention, the dimensions of the operating table 2 can be, for example, 0.8m × 2.5m. Specifically, the height and the tilt angle of the upper half of the operating table 2 are adjustable.

[0061] According to a preferred embodiment of the present invention, the dimensions of the base 4 can be, for example, 3m × 5m. The diameter of the two semicircles of the second guide rail assembly is approximately 3m, and the length is approximately 2.5m.

[0062] According to a preferred embodiment of the present invention, the second engagement component 6 is installed between the first guide rail component 5 and the second guide rail component 7. Further, the diameter of the two semicircles of the first guide rail component 5 is approximately 4m, and the length between the two semicircles is approximately 2.5m.

[0063] According to a preferred embodiment, in this invention, the total height of the mobile platform and the robotic arm is approximately 1m, which allows the arm to hang naturally in a seated position to facilitate the retrieval of surgical instruments.

[0064] Specifically, this invention proposes a track-based surgical assistance system and method, used in conjunction with the surgeon's chair. It can perform numerous tasks such as handing over, receiving, and storing tools, and recording the treatment process, thus replacing an assistant to a certain extent. The track adopts a rectangular design with two semi-circular arcs, employing a double-track system with a central rack and pinion for transmission. A servo motor with a driver is installed within a moving platform on the guide rail, with a pre-designed six-degree-of-freedom robotic arm connected in series above. The servo motor within the moving platform drives the gears and the rack and pinion mounted on the base for gear transmission, with sliders on both sides moving along the guide rail. This design ensures the surgical robot has greater operational space, making overall operation more flexible and minimizing singularities as much as possible.

[0065] Example 2

[0066] This embodiment is a further improvement on embodiment 1, and repeated content will not be described again.

[0067] According to a preferred embodiment, the system further includes an analysis module. The analysis module includes at least a first analysis unit, a second analysis unit, and a third analysis unit. The plurality of analysis units involved in this invention refer to hardware, software, or a combination of data processors capable of performing their related steps. A method step corresponding to a certain unit can also be divided into multiple method steps and executed separately by multiple units. Where there is no conflict or contradiction, the whole and / or part of the preferred embodiments of other embodiments can be used as supplements to this embodiment.

[0068] According to a preferred embodiment, the first analysis unit generates a real-time data model of the operation based on multi-source operational data collected by several third-party detection sensors. The second analysis unit compares the real-time data model with a reference data model established using pre-collected surgical data, surgical personnel suggestions, and contingency plans. If differences exist between the two models, data in the real-time data model that cannot match the reference data model is marked. Preferably, the third analysis unit retrieves and compares the pre-time series data uploaded by multiple third-party detection sensors stored in the first analysis unit with the reference data model to analyze potential operational risks in the system over time and corresponding contingency plans. Preferably, the third analysis unit also retrieves the corresponding pre-time series data uploaded by the third-party detection sensors stored in the first analysis unit based on the marked data, displaying and reminding medical personnel of the relevant analysis results and contingency plans via a display panel. This facilitates medical personnel's monitoring of the surgical progress, avoidance of potential surgical accidents, and proactive accident mitigation. Furthermore, medical personnel can judge whether the system has anomalies based on their personal experience, and can actively report anomalies to the system by activating the third analysis unit. This allows the third analysis unit to retrieve pre-time series data from multiple third-party detection sensors stored in the first analysis unit, based on the medical personnel's active activation. The third analysis unit can proactively build a pre-time series data model based on the medical personnel's active activation, and then compare this model with a reference data model to determine whether the data within the time series matches the data before the anomaly occurred. When a match is found with data corresponding to a specific surgical anomaly, the system is considered to have an anomaly, issuing a warning to the medical personnel. The third analysis unit also updates the pre-established reference data model using the pre-time series data, allowing the updated parameter data model to select similar pre-time series data, thereby identifying similar data and anomalies during subsequent surgeries. Compared to existing technologies, this invention improves the accuracy of risk identification during surgery through the detection and warning functions of the multi-degree-of-freedom robotic arm 3 in the orbital surgical assistance system and the proactive warnings from medical personnel. The track-mounted surgical assistance system serves two purposes: firstly, it facilitates the retrieval and organization of surgical instruments; secondly, it records the entire surgical process and identifies and analyzes the recorded surgical data, thereby creating a multi-directional, multi-angle early warning system within the operating room. This is particularly important for secondary analysis using recorded data, including time-series data. Preferably, several third-party detection sensors can be mounted on the multi-degree-of-freedom robotic arm 3 or on a circular floor track to monitor the operating table and operating room. Existing surgical assistance equipment lacks the ability to assess surgical risks and handle potential accidents during surgery.As the surgical procedure progresses and the surgical environment changes, the factors that could lead to surgical accidents increase. Existing robotic arm-based assistive devices struggle to make accurate judgments and provide early warnings, and medical staff also find it difficult to operate these devices in a short time to respond appropriately. In this context, medical staff can proactively activate their actions through short-term subjective judgment, combining the judgments of the assistive devices with their own, thereby improving the accuracy of surgical risk identification through human-computer interaction.

[0069] The first, second, and third analysis units can communicate and couple with the control system or electronic control unit of the robotic arm to read auxiliary parameters of the robotic arm, such as rotation speed and bending angle. The system also includes a display panel. The display panel can communicate with the first and third analysis units to display the auxiliary parameters obtained by the first and third analysis units. The aforementioned time sequence refers to the various time periods on the timeline of the surgical procedure, and these time periods are arranged in chronological order.

[0070] The aforementioned third-party detection sensors can at least collect control data, parameter data, and environmental data of the robot. The control data can be used to control the circular movement and bending of the multi-degree-of-freedom robotic arm 3, enabling the robot to perform different actions according to different operational commands. For example, the control data could be the orbital speed command of the multi-degree-of-freedom robotic arm 3 input by medical personnel, thereby assisting in surgical procedures under constant-speed orbital movement. Alternatively, the control data could be the orbital path for removing or placing surgical instruments determined based on the location of the surgical instruments and the current position of the multi-degree-of-freedom robotic arm 3, thus enabling the multi-degree-of-freedom robotic arm 3 to manage surgical instruments according to the set orbital path. It is understood that input devices for inputting control data can be provided in the operating room. Input devices can be voice-, image-, or touch-based devices. For example, the input device could be a voice input device. Medical personnel input the required auxiliary operations into the control system of the multi-degree-of-freedom robotic arm 3 through voice interaction, thereby allowing the control data to be collected by the first analysis unit. The first analysis unit, the second analysis unit, and the third analysis unit may employ general-purpose central processing unit (CPU), application-specific integrated circuit (ASIC), microprocessor, or one or more integrated circuits to execute relevant instructions or programs to implement the technical solution of the present invention.

[0071] According to a preferred embodiment, parameter data is used to characterize the robot's movement state. For example, parameter data may include the robot's track speed along the circular landing track, the robot arm's bending angle, and battery power, thereby enabling the determination of the robot's operating state. A first analysis unit can establish a real-time operating data model of the multi-degree-of-freedom robot arm 3 based on the parameter data. A second analysis unit compares this real-time operating data model with a pre-collected normal operation reference data model and marks the differences, allowing a third analysis unit to determine whether the multi-degree-of-freedom robot arm 3 has any safety hazards, thus preventing potential sudden robot malfunctions. The second analysis unit may have a built-in memory for storing threshold values ​​for the parameter data. The second analysis unit can compare the received parameter data with the threshold values ​​stored in the memory to determine whether any safety hazards exist. Specific types of data for the model comparison include, for example, setting the robot's circular track speed to 1 m / s; when the actual rotational speed exceeds this threshold, a preliminary judgment can be made that the robot has a safety hazard. Another example is setting the robot's robot arm bending angle to 90°; when the bending angle of a single degree-of-freedom robot arm exceeds this threshold, a preliminary judgment can be made that the robot has a safety hazard.

[0072] According to a preferred embodiment, environmental data refers to relevant data about the tools to be picked up or placed within a preset range around the robot. Sensor components such as radar and panoramic displays can be installed around the operating table 2 to acquire environmental data. Environmental data can be used to assess the correspondence between the robot and other physical objects in the operating room. Physical objects can include objects in the operating room that can affect the working state of the multi-degree-of-freedom robotic arm 3, such as the placement of tools, the positions of medical personnel, and the positions of nurses coming and going. For example, a nurse suddenly appearing in front of the robot, or a tool falling to the ground, can cause the robot to encounter obstacles during operation, thus requiring a change in movement speed. The presence of obstacles around the robot will cause the robot to consider whether to slow down and wait or clear the obstacles. Environmental data can include first environmental data characterizing the shape of the physical object itself and second environmental data characterizing the relationship between the robot and the physical object. For example, the first environmental data can include the actual data of the object, such as movement data, direction, and other physical data, to characterize the physical relationship between the object and the robot. The second environmental data can include the relationship between the object and the robot, including the distance between the object and the robot, path obstruction, and whether the object needs to be cleared. For example, when the robot is moving on a circular landing track, a nurse might be blocking its path to report a situation. In this case, second environmental data needs to be analyzed to determine whether to wait for the nurse or warn her to move aside. If the object is a medical device that has fallen onto the circular landing track, the second environmental data needs to be analyzed to determine whether the robot needs to collect or handle the device to prevent medical accidents. Preferably, the first environmental data can be collected by several third-party detection sensors and transmitted to the first analysis unit to establish a real-time environmental data model. For example, image sensors can be used to identify the object and detect related physical data. Preferably, the second environmental data can be determined by the second analysis unit based on pre-stored relevant data. For example, if the object is identified as a nurse, the second analysis unit pre-stores the nurse's second environmental data, including the safe distance the multi-degree-of-freedom robotic arm 3 needs to maintain from the nurse. Similarly, if the object is identified as a fallen surgical instrument, the second analysis unit pre-stores the surgical instrument's second environmental data, including the type of surgical instrument and the required safe distance. The third analysis unit, after comparing the first and second environmental data and generating markers in the second analysis unit, proposes appropriate responses to the presence of a physical object in the surrounding environment. For example, if the object is a nurse, a warning or waiting period for her to move aside is required. If the object is a surgical instrument, responses may include how to clamp it for obstacle removal.

[0073] Example 3

[0074] This embodiment may be a further improvement and / or supplement to the foregoing embodiments, and repeated content will not be described again. Where there is no conflict or contradiction, the whole and / or part of the preferred embodiments of other embodiments may be used as supplements to this embodiment.

[0075] According to a preferred embodiment, the second analysis unit uses a reference data model derived from a surgical database and varying over time to analyze real-time data during the surgical procedure. Based on the analysis results, it identifies data and operational steps that fail to meet the corresponding parameters. For example, third-party sensors mounted on the circular landing track and / or the multi-degree-of-freedom robotic arm 3 detect patient physiological parameters, image responses, and the status of surgical instruments and materials during the surgical procedure, feeding this data back to the first analysis unit to establish a real-time data model. The second analysis unit then marks and labels the differences between the real-time data model and the parameter data model. The aforementioned patient physiological parameters, image responses, and the status of surgical instruments and materials include at least sudden changes in the patient's heart rate, consumption of surgical instruments, sudden drops of surgical instruments, and subtle abnormalities in the patient's limbs. Preferably, medical personnel can also drive the third analysis unit to analyze real-time data extracted from the pre-time series data stored in the first analysis unit within a certain time period. When medical personnel discover abnormal conditions or other emergencies in patients, they can actively activate the third analysis unit to analyze changes in real-time data of the patient over a past time period through data tracking and / or image tracking. Then, they can use this real-time data and / or image tracking to determine the causes of the abnormal conditions or other emergencies, enabling medical personnel to more accurately analyze the influencing factors of the abnormal conditions or other emergencies, determine subsequent treatment plans, and update the parameter data model. Preferably, when the second analysis unit determines that the real-time data model and the parameter data model do not match, the second analysis unit uses real-time data from another time period within the time series for supplementary comparison, thereby improving the accuracy of the judgment. Preferably, the above detection can utilize additional sensing components to detect the operating room environment, patient vital sign stability, surgical instrument consumption, and changes, thus facilitating the system to judge emergencies during the surgical process from changes in several parameters in a complex environment, thereby more effectively analyzing and judging abnormalities during the surgical process and whether they will cause surgical risks.

[0076] According to a preferred embodiment, the second analysis unit uses mismatched abnormal data to mark the time series data. When related abnormalities occur during subsequent surgical procedures, a new reference data model is established using the time series data, and this new reference data model replaces or supplements the previously established reference data model. The third analysis unit uses the marked points for risk warning and to improve risk mitigation strategies. Preferably, the reference data model is a standard surgical safety model established using the medical institution's surgical database, expert opinions, and relevant emergency response plans. The real-time data model and reference data model matching characterization system determines that there is no surgical risk in the operating room and surgical procedure within the time series. The instruments and patient's vital signs in the operating room are within a controllable range. Preferably, the third analysis unit uses the abnormality detected by the second analysis unit or the moment when medical personnel discover the abnormality as the starting point and selects a traceable time series to extract data from that time series. Preferably, an example of medical personnel actively activating the third analysis unit is, for example, the presence of an abnormal odor in the operating room, which may indicate the spillage of surgical materials, while the detected data is normal. Medical staff, based on relevant experience and environmental observations, determine when subtle abnormalities occur. After the medical staff actively activates the unit, the third analysis unit retrieves the aforementioned traced time series from the previous time series data stored in the first analysis unit. This establishes a real-time data model on that time series, which is then compared with a reference data model to identify corresponding risks. When a risk is determined to occur, the reference data model is updated using the real-time data model. Furthermore, subsequent real-time data continuously updates both the real-time and reference data models, generating a model that perfectly matches the surgical procedure. Preferably, the medical staff can also actively activate the third analysis unit when they perceive abnormal patient conditions or hear unusual sounds.

[0077] Preferably, in this solution, the worktable and the multi-degree-of-freedom robotic arm (hereinafter referred to as the robotic arm) each have different degrees of freedom of motion. The worktable is used to determine the position of the robotic arm on the horizontal plane, and therefore it has a degree of freedom of movement on the horizontal plane. The robotic arm is used to perform the actual surgical operation, and it has degrees of freedom of movement in both the horizontal and vertical planes. Furthermore, at least the degree of freedom of the robotic arm on the horizontal plane is affected by the position of the worktable on the horizontal plane. For example, since at least one end of the robotic arm is connected to the worktable, influenced by the fixed position of the worktable, when the robotic arm is fully extended, its operating head has a maximum extension distance relative to the worktable. A circle is drawn with this maximum extension distance as the radius and the center of the worktable as the center; this circle represents the maximum degree of freedom range of the robotic arm on the horizontal plane. For ease of description, the degree of freedom of movement of the robotic arm in the horizontal direction is called the first degree of freedom, and its degree of freedom of movement in the vertical direction is called the second degree of freedom.

[0078] In the orbital multi-degree-of-freedom robotic surgical robot mode addressed in this solution, the robot's overall motion freedom is constrained by two aspects: the motion freedom of the worktable and the motion freedom of the robotic arm. The actual position of the worktable determines at least part of the range of motion freedom of the robotic arm. Since the worktable's movement space is actually at the top of a space relatively unaffected by external environmental interference, such as the ceiling track in the operating room, the worktable's movement is relatively undisturbed. However, the movement of the robotic arm is first affected by the surgical requirements, as the robotic arm needs to move according to instructions. Secondly, the movement of the robotic arm is easily affected by external environmental interference, such as path obstruction caused by personnel movement, path obstruction caused by other objects, or collision risks. Currently, many technologies often only consider how to avoid interference in the path when the robotic arm moves, while ignoring the influence of the worktable on the robotic arm's motion freedom. This solution finds that even when the robotic arm completes the same motion target, the necessary effort required by the robotic arm to avoid interference varies depending on the position of the worktable when the robotic arm performs the movement.

[0079] Therefore, preferably, a first control unit for controlling the movement of the worktable is provided, and a second control unit for controlling the movement of the robotic arm is provided, wherein, when the first control unit controls the movement of the worktable, the second control unit receives at least some instructions related to the movement controlled by the first control unit and controls the movement of the robotic arm, and / or when the second control unit controls the movement of the robotic arm, the first control unit receives at least some instructions related to the movement controlled by the second control unit and controls the movement of the worktable; when the robotic arm is controlled by the second control unit to perform movement, the worktable is controlled by the first control unit to provide the robotic arm with a first degree of freedom and a second degree of freedom restricted by the position of the worktable.

[0080] Preferably, if the first control unit acquires or has first moving target data for the second time period within the first time period, the second control unit acquires interference level data based on the first moving target data, where the robot arm moves according to the first moving target data while the robot arm is in its current position. When the interference level data is above a detection threshold, the second control unit controls the worktable to move to a new position according to the generated second moving target data, so that the first and second degrees of freedom of the robot arm are at least partially updated, and that, at least under the influence of the updated first and second degrees of freedom, when the first control unit actually executes control in the second time period to enable the robot arm to achieve the first moving target data, its interference level data is below the detection threshold. The second control unit controls the worktable to move before the second time period. During the movement of the worktable controlled by the second control unit, the first control unit controls the robot arm to maintain its current pose at the first moment.

[0081] The first moving target data is formed based on preset or input robotic arm control commands. It indicates the pose the robotic arm should achieve in the second time period and includes at least spatial coordinate data to indicate the destination of the robotic arm's movement from a reference position (usually the mechanical head that operates the instrument or performs the grasping function). The second moving target data indicates the moving target position of the worktable. The interference level data is obtained through simulation calculation. In detail, environmental information around the robotic arm is acquired, and interference features are filtered. The filtering method is based on the simulated moving data formed by the first moving target data. Features in the simulated moving data that will interfere with the movement of the robotic arm are filtered. For example, if the robotic arm is at position A in the first time period and needs to move forward along the worktable and in the current direction to position B in the second time period, the simulation shows that the robotic arm needs to be raised during the movement. If an obstruction is detected above the robotic arm (such as a doctor's arm or other obstructing wires), this interference feature causes the interference level data to accumulate. After combining several interference features, the total interference level data can be analyzed. The verification threshold is a judgment threshold or inspection rule for checking the interference level data. When the total value of the interference level data exceeds the verification threshold and / or one or more items of the interference level data do not meet the inspection rule of the verification threshold, it can be determined that the interference level data exceeds the verification threshold. When the second moving target data is generated, the first and second degrees of freedom are updated, thereby enabling a second motion simulation of the robotic arm to obtain updated simulated motion data, which in turn updates the interference level data. This allows us to determine whether the updated interference level data under the second moving target data meets the verification threshold, thus enabling us to find the optimal second moving target data.

[0082] The above solution achieves the goal of moving the worktable in advance based on the expected movement target of the robotic arm, so as to provide the most suitable degree of freedom for the subsequent movement of the robotic arm. This significantly reduces the interference with its movement and reduces the computation of the robotic arm's movement decision. Usually, in order to avoid interference, the first control unit will spend a lot of computing power to calculate the movement method to bypass the obstacle. However, this obviously wastes a lot of time and interferes with the surgical process. This solution starts with the worktable, which has a relatively higher degree of freedom of movement, so that when the robotic arm moves to the target position, it can process the movement method in a way with minimal interference. This can significantly improve the movement efficiency of the robotic arm and ensure the rhythm of the surgery.

[0083] Throughout the text, the features indicated by “preferred” are only optional and should not be construed as mandatory. Therefore, the applicant reserves the right to abandon or delete the relevant preferred features at any time.

[0084] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and not intended to limit the scope of the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept.

Claims

1. A track-guided surgical assistance system, characterized in that, At least including: A circular track is laid around the operating table (2), in which, The multi-degree-of-freedom robotic arm (3) moves circumferentially along the circular landing track and is configured to perform degree-of-freedom operations in the horizontal and / or vertical planes. The multi-degree-of-freedom robotic arm (3) moves along the circular landing track around the track path and completes several degrees of freedom movements via commands. The multi-degree-of-freedom robotic arm (3) is supported at least by a workbench (16) so that when the workbench (16) moves around the circular landing track, the multi-degree-of-freedom robotic arm (3) can be moved. The system is equipped with a first control unit for controlling the movement of the worktable (16) and a second control unit for controlling the movement of the multi-degree-of-freedom robotic arm (3); In the first time period, when the first control unit acquires or has first moving target data of the robotic arm in the second time period, the second control unit acquires the interference level data generated by controlling the robotic arm to move according to the first moving target data when the workbench (16) is in the current position. The interference level data is obtained by simulation calculation. The environmental information around the robotic arm is acquired, and interference features are filtered. The filtering method is based on the simulated moving data formed by the first moving target data. Features that will interfere with the movement of the robotic arm in the simulated moving data are filtered. After combining several interference features, the total interference level data is analyzed. When the interference level data is above the detection threshold, the first control unit controls the workbench (16) to move to a new position according to the generated second moving target data, so that the first degree of freedom and the second degree of freedom of the robotic arm are at least partially updated, and so that at least under the influence of the updated first degree of freedom and the second degree of freedom, when the first control unit actually performs control in the second time so that the interference level data of the robotic arm can be below the detection threshold when the robotic arm realizes the first moving target data. Wherein, the workbench (16) moves before the second time; the first movement target data is formed according to the preset or input robotic arm control command, which is used to indicate the pose that the robotic arm should achieve in the second time, including spatial coordinate data, and is used to indicate the reference position movement destination of the robotic arm; the second movement target data is used to indicate the movement target position of the workbench.

2. The track-guided surgical assistance system according to claim 1, characterized in that, The first engagement component (15) of the worktable (16) engages with the second engagement component (6) of the annular ground track so that the rotational torque of the first engagement component (15) is applied to the second engagement component (6) to push the worktable (16) to move around the track.

3. The track-guided surgical assistance system according to claim 2, characterized in that, The second engagement assembly (6) has a first guide rail assembly (5) on its radially outer side and a second guide rail assembly (7) on its radially inner side. The worktable (16) has at least two sliders (12) coupled to the first guide rail assembly (5) and the second guide rail assembly (7). The sliders (12) are used to limit the movement of the first engagement assembly (15) along the rail of the second engagement assembly (6), thereby limiting the movement of the worktable (16) along the rail.

4. The track-guided surgical assistance system according to claim 3, characterized in that, The multi-degree-of-freedom robotic arm (3) is mounted on a fixed base (8), wherein, The fixed base (8) and the worktable (16) at its bottom opening surround each other to form a mobile support assembly for driving the multi-degree-of-freedom robotic arm (3) to perform circular motion.

5. The track-guided surgical assistance system according to claim 4, characterized in that, The cavity formed by the fixed base (8) and the worktable (16) is equipped with a drive motor (9), a coupling (11), and a transmission shaft (17) for driving the multi-degree-of-freedom robotic arm (3) to move around the annular landing track as instructed. The free-degree robotic arm (3) and the circular landing track are both mounted on the base (4); The output end of the drive motor (9) drives the first meshing component (15) to perform gear and rack transmission with the second meshing component installed on the base (4) through rotational torque.

6. The track-guided surgical assistance system according to claim 5, characterized in that, A fixing block (10) disposed on the worktable (16) is connected to the worktable (16) in such a way that the drive motor (9) is restricted to the vertical axis of the worktable (16). When the drive motor (9) is started, the first engagement component rotates along the vertical axis of the worktable (16) based on the torque of the drive motor (9) in a manner that engages with the second engagement component, so that at least two sliders (12) are respectively limited to rotate along the first guide rail assembly (5) and the second guide rail assembly (7).

7. The track-guided surgical assistance system according to claim 6, characterized in that, The output end of the drive motor (9) is connected to the coupling (11) under the fixed block (10) through the opening of the fixed block (10), and a bearing (14) is provided below the coupling (11). The drive shaft (17) is connected to the first engagement assembly (15) which engages with the second engagement assembly (6) at least through a central hole that communicates with each other through the coupling (11) and the bearing (14).

8. The track-guided surgical assistance system according to claim 7, characterized in that, The drive shaft (17) serves as at least as the drive shaft of the first meshing assembly (15) so that, driven by the torque provided at the output end of the drive motor (9), the torque is transmitted to the drive shaft (17) through the coupling (11) and the bearing (14), thereby connecting with the first meshing assembly (15) which meshes with the second meshing assembly (6).

9. The track-guided surgical assistance system according to claim 7, characterized in that, When the drive motor (9) is started, the snap ring (13) provided between the coupling (11) and the bearing (14) restricts the axial movement of the coupling (11) and the bearing (14) relative to each other at least in a manner that restricts or prevents the axial movement of the parts on the shaft or in the hole.

10. A method for assisting surgery using a track-based surgical assistance system as described in any one of claims 1 to 9, characterized in that, The method includes at least one or more of the following steps: The multi-degree-of-freedom robotic arm (3) moves in a circular motion along the circular landing track and is configured to perform degree-of-freedom operations in the horizontal and / or vertical planes. The multi-degree-of-freedom robotic arm (3) moves along the circular landing track by command and completes several degrees of freedom movements by command. The multi-degree-of-freedom robotic arm (3) is supported at least by a worktable (16) so that when the worktable (16) moves along the annular landing track, the multi-degree-of-freedom robotic arm (3) is moved accordingly. The first engagement component (15) of the worktable (16) engages with the second engagement component (6) of the annular ground track so that the rotational torque of the first engagement component (15) is applied to the second engagement component (6) to push the worktable (16) to move around the track.

Images