Pedicle puncture system and guiding method for pedicle puncture

Abstract

This application discloses a pedicle puncture system and a guiding method for pedicle puncture. The pedicle puncture system includes a pedicle puncture robot and a control unit (30) for controlling the pedicle puncture robot. The pedicle puncture robot includes a robot body (10) and an X-ray detection device. The X-ray detection device includes an X-ray projection section (20) and an X-ray receiving section (40). At least one of the X-ray projection section (20) and the X-ray receiving section (40) is disposed on the robot body (10). The control unit is configured to control the puncture operation of the robot body (10) based on the detection result of the X-ray detection device. This application can detect the position of the puncture instrument in real time by projecting X-rays, thereby controlling the puncture process through the robot body according to the detection result, ensuring accurate and smooth puncture.

Description

Technical Field

[0001] This application relates to the field of medical devices and medical assistive methods, and more specifically, to a pedicle puncture system and a guiding method for pedicle puncture. Background Technology

[0002] Pedicle screw insertion (i.e., pedicle screw implantation) is a fundamental technique in spinal surgery. Manual pedicle screw implantation has relatively poor accuracy, with an error rate exceeding 20% ​​to varying degrees. In cases of scoliosis or vertebral tumors that damage the pedicle, the error rate is even higher for manual pedicle screw implantation. Failure to implant the pedicle screw can lead to damage to neural structures, thoracic and abdominal organs, and vascular structures, and can also result in internal fixation failure.

[0003] While existing technologies have enabled the use of robots for pedicle puncture, errors can still occur during the puncture process because the robot's operation relies on preoperative planning based on the patient's imaging results. Intraoperative patient position drift and tool slippage on irregular vertebral surfaces can also lead to errors.

[0004] Therefore, improving the accuracy of pedicle puncture has become a technical problem that needs to be solved in this field. Summary of the Invention

[0005] In view of this, this application proposes a pedicle puncture system to improve the accuracy of pedicle puncture.

[0006] According to this application, a pedicle puncture system is proposed, wherein the pedicle puncture system includes a pedicle puncture robot and a control unit for controlling the pedicle puncture robot. The pedicle puncture robot includes a robot body and an X-ray detection device. The X-ray detection device includes an X-ray projection section and an X-ray receiving section. At least one of the X-ray projection section and the X-ray receiving section is disposed on the robot body. The control unit is configured to control the puncture operation of the robot body according to the detection result of the X-ray detection device.

[0007] Optionally, the pedicle puncture system includes an input unit, and the control unit is electrically connected to the input unit to control the puncture operation of the robot body according to the preoperative planning navigation input by the input unit.

[0008] Optionally, the control unit is configured to control the X-ray projection angle and / or X-ray projection intensity of the X-ray projection unit.

[0009] Optionally, the X-ray projection section is configured to project along the direction of the pedicle.

[0010] Optionally, the robot body includes a puncture object disposed at the head end of the robotic arm of the robot body, and one of the X-ray projection part and the X-ray receiving part is disposed at the head end of the robotic arm and is provided with a clearance hole to avoid the puncture object.

[0011] Optionally, the X-ray detection device includes a monitoring unit for monitoring the detection results. The monitoring unit is electrically connected to the control unit so that the control unit can determine whether the puncture has deviated based on the feedback from the monitoring unit and control the robot body.

[0012] Optionally, the X-ray detection device begins detection after the tip of the puncture object inserted into the robot body reaches a predetermined position.

[0013] Optionally, the control unit determines that a puncture deviation has occurred under the following circumstances: the image shows that the projection of the puncture object extends beyond the lateral wall of the pedicle; the image shows that the projection of the puncture object extends beyond the medial wall of the pedicle; the image shows that the projection of the puncture object extends beyond the superior wall of the pedicle; the image shows that the projection of the puncture object extends beyond the inferior wall of the pedicle.

[0014] Optionally, the monitoring unit includes an alarm unit, which is activated by the control unit when the puncture deviates from its intended path.

[0015] Optionally, if the puncture deviates, the control unit controls the tip of the puncture object to stop puncturing.

[0016] This application also provides a guiding method for pedicle puncture, wherein the method includes:

[0017] S1. X-rays are projected along the direction of the pedicle for X-ray detection;

[0018] S2. Puncture is performed using a puncture device, and the puncture deviation is determined based on the X-ray image.

[0019] S3. Based on the assessment result, continue or stop the puncture.

[0020] Optionally, when the tip of the puncture object reaches a predetermined position, an X-ray detection is performed, and the puncture deviation is determined based on the X-ray image.

[0021] Optionally, X-ray detection may be performed continuously or intermittently when the tip of the puncture reaches a predetermined position.

[0022] Optionally, in step S3: if the image shows that the tip of the puncture object extends beyond the lateral wall of the pedicle, the puncture is determined to be lateral; if the image shows that the tip of the puncture object extends beyond the medial wall of the pedicle, the puncture is determined to be medial; if the image shows that the tip of the puncture object extends beyond the superior wall of the pedicle, the puncture is determined to be superior; if the image shows that the tip of the puncture object extends beyond the inferior wall of the pedicle, the puncture is determined to be inferior.

[0023] Optionally, in step S3, if it is determined that the puncture has deviated, the puncture is stopped.

[0024] Optionally, in step S2, the puncture is performed according to the preoperative plan.

[0025] According to the technical solution of this application, the position of the puncture instrument can be detected in real time by X-ray irradiation, thereby controlling the puncture process performed by the robot body based on the detection results, ensuring accurate and smooth puncture.

[0026] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application, and the illustrative embodiments and descriptions thereof are used to explain this application. In the drawings:

[0028] Figure 1 This is a schematic diagram of a pedicle puncture system according to a preferred embodiment of this application.

[0029] Figure 2 Images from normal puncture procedures;

[0030] Figures 3 to 7 This refers to deviations that occur during the puncture process and their corresponding imaging results. Detailed Implementation

[0031] The technical solution of this application will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] This application provides a pedicle puncture system, wherein the pedicle puncture system includes a pedicle puncture robot and a control unit 30 for controlling the pedicle puncture robot. The pedicle puncture robot includes a robot body 10 and an X-ray detection device. The X-ray detection device includes an X-ray projection section 20 and an X-ray receiving section 40. At least one of the X-ray projection section 20 and the X-ray receiving section 40 is disposed on the robot body 10. The control unit is configured to control the puncture operation of the robot body 10 according to the detection result of the X-ray detection device.

[0033] Using the pedicle puncture system of this application, the puncture position can be detected in real time during the puncture process by an X-ray detection device. The puncture process carried out by the robot body 10 can be controlled according to the detection results to ensure accurate and smooth puncture.

[0034] In this application, the puncture path of the robot body 10 can be set in an appropriate manner. For example, preoperative planning can be obtained by combining the patient's preoperative examination results, and the puncture path and navigation puncture operation can be set according to the preoperative planning. To facilitate automated puncture, the pedicle puncture system may include an input unit, and the control unit is electrically connected to the input unit to navigate and control the puncture operation of the robot body 10 according to the preoperative planning input by the input unit. It is understood that the preoperative planning can be formulated based on the results of preoperative X-ray examination, CT scan, or MRI of the patient.

[0035] When performing pedicle puncture, different patients and different sites need to be punctured. In order to adapt to different puncture situations, the X-ray projection unit 20 is set to be able to adjust the X-ray projection angle so as to adjust the X-ray projection angle according to the actual puncture situation, thereby obtaining accurate real-time detection results.

[0036] Furthermore, preferably, the X-ray projection unit 20 can be configured to adjust the X-ray projection intensity to obtain clear and accurate detection results according to the actual puncture situation. It is understood that, to avoid damage to patients and related personnel due to excessive radiation, the X-ray projection intensity should be controlled within a safe range. Preferably, the total irradiation time for each puncture does not exceed 10 minutes, and the radiation dose does not exceed 2 Gy.

[0037] Preferably, the operation of the X-ray irradiation unit 20 can be controlled by a control unit, that is, the X-ray irradiation angle and / or X-ray irradiation intensity of the X-ray irradiation unit 20 can be controlled by the control unit.

[0038] Understandably, when using X-ray projection 20 to detect the position of a puncture object (e.g., a puncture instrument, implanted screw) relative to the puncture site, the accuracy of the detection largely depends on the projection direction. Preferably, the X-ray projection 20 is configured to project along the direction of the pedicle. That is, during puncture, the projection direction of the X-ray projection 20 is aligned with the direction of the pedicle being punctured, thereby obtaining an accurate detection result reflecting the position of the puncture object relative to the puncture site (e.g., ...). Figures 1 to 7 (X-ray examination image on the right side of the middle section).

[0039] Additionally, the robot body 10 includes a puncture device 12 disposed at the robotic arm tip 11 of the robot body 10, extending from the robotic arm tip 11 of the robot body 10. The puncture device 12 can be a puncture instrument, an implantation screw, etc., and can be driven by a suitable power system for puncture. During puncture, the power system of the puncture device 12 drives the puncture device 12 to puncture along a predetermined direction. In the process of puncturing and implanting a screw, the power system first drives the puncture instrument to puncture to a predetermined position along the predetermined direction to confirm the puncture path, and then the screw is implanted along the puncture path of the puncture instrument 12.

[0040] To facilitate simultaneous X-ray detection and puncture, one of the X-ray projection unit 20 and the X-ray receiving unit 40 can be located at the robotic arm head end 11 of the robot body 10. The X-ray projection unit 20 and the X-ray receiving unit 40 located at the robotic arm head end 11 need to have a clearance hole to allow for the puncture operation of the puncture object 12. For ease of installation and to ensure normal X-ray detection, preferably, the puncture object 12 and the X-ray receiving unit 40 are located at the robotic arm head end 11 of the robot body 10, and the X-ray receiving unit 40 has a clearance hole to allow for the puncture object 12.

[0041] In this application, to facilitate the acquisition of X-ray detection images, the X-ray detection device includes a monitoring unit for monitoring detection results (e.g., acquiring the X-ray detection images in real time). The monitoring unit is electrically connected to the control unit 30, enabling the control unit to determine whether the puncture has deviated based on feedback from the monitoring unit and control the robot body 10 (e.g., stopping the puncture, adjusting puncture parameters (e.g., puncture direction, stepping)). Thus, feedback can be provided to the robot body 10 for puncture based on the detection images obtained by the monitoring unit, assisting in the smooth execution of the puncture.

[0042] In this application, to reduce unnecessary exposure, X-ray detection can be performed after the tip of the puncture object reaches a predetermined position. The predetermined position can be set as needed. For example, when the puncture object 12 is a puncture instrument, the predetermined position is the position where the puncture instrument reaches the puncture initiation point (i.e., the position where the puncture instrument contacts the pedicle bone surface); when the puncture object 12 is an implanted screw, the predetermined position can be a certain distance (e.g., 1 mm) after the puncture enters the pedicle surface.

[0043] Furthermore, the X-ray detection device can perform detection continuously or intermittently. For example, when the puncture object 12 is a puncture instrument, detection can be performed continuously after the puncture instrument reaches the predetermined position; when the puncture object 12 is an implantation screw, detection can be performed intermittently at predetermined puncture depths after the implantation screw reaches the predetermined position.

[0044] In this application, the puncture depth (i.e., the distance from the tip of the puncture object to the puncture point on the vertebral body surface (puncture start position) to the screw implantation position (puncture end position)) can be set according to the different locations of the pedicles being punctured. For example, in lumbar puncture, the puncture depth can be set to 40mm-50mm; in thoracic puncture, the puncture depth can be set to 35mm-40mm.

[0045] Additionally, the pedicle puncture robot may include an alarm unit, which can be controlled by the control unit to sound an alarm when deviation or other problems occur during the puncture process, thereby alerting the relevant operators. For example, the alarm unit is configured to sound an alarm when the monitoring unit detects a puncture deviation. That is, after the tip of the puncture object enters the pedicle, if the monitoring unit detects a puncture deviation, the alarm unit will sound an alarm. Therefore, the alarm unit can be controlled by the control unit to activate the alarm unit when the control unit determines a puncture deviation.

[0046] The alarm unit can achieve the alarm effect by providing a warning in an appropriate manner. Preferably, to enhance the warning effect, the alarm unit is configured to provide an alarm through sound and / or light. For example, the alarm unit may include a buzzer and / or an alarm flashing light.

[0047] Furthermore, it is preferable to stop the puncture simultaneously after the alarm unit sounds. To this end, the robot body 10 can stop the puncture in response to the alarm unit's alarm. Specifically, the control unit 30 can be electrically connected to the alarm unit to control the robot body 10 to stop the puncture based on its feedback.

[0048] In this application, to ensure the normal operation of the X-ray detection device, the X-ray projection section 20 and the X-ray receiving section 40 need to have fixed relative positions. In particular, when one of the X-ray projection section 20 and the X-ray receiving section 40 is located at the end 11 of the robotic arm and its puncture position and angle are adjusted with the puncture object 12, the other needs to move accordingly to keep the X-ray projection section 20 and the X-ray receiving section 40 relatively fixed, so that they can cooperate to perform the detection.

[0049] The X-ray projection unit 20 and the X-ray receiving unit 40 can be fixed in relative position by an appropriate means. Preferably, the robot body 10 may include a robotic arm body 13 and a mounting part 14 mounted on the robotic arm body 13. The mounting part 14 has an upper end and a lower end opposite to each other. The upper end of the mounting part 14 forms the robotic arm head end 11. One of the X-ray receiving unit 40 and the X-ray projection unit 20 is disposed at the upper end of the mounting part 14, and the other is disposed at the lower end of the mounting part 14. The X-ray receiving unit 40 and the X-ray projection unit 20 can move synchronously through the mounting part 14 so that the X-rays from the X-ray projection unit 20 can always be received by the X-ray receiving unit 40. In addition, to ensure that the X-rays from the X-ray projection unit 20 can be received by the X-ray receiving unit 40, the X-ray projection unit 20 and the X-ray receiving unit 40 should be mounted in an appropriate position on the mounting part 14 so that the X-ray projection unit 20 and the X-ray receiving unit 40 are kept facing each other along the X-ray projection direction.

[0050] The mounting part 14 can take various suitable specific forms. Preferably, to avoid obstructing the operating table, such as... Figure 1 As shown, the mounting portion 14 is C-shaped. Specifically, the two ends of the C-shape are the upper end and the lower end, respectively, and the middle part can be movably mounted on the robotic arm body 13 so that its position can be adjusted relative to the robotic arm 13, thereby adjusting the position of the X-ray receiving portion 40 and the X-ray projection portion 20. In addition, the upper end of the mounting portion 14 is the robotic arm head end 11, where the puncture object 12 is also mounted. As described above, to ensure the normal use of the puncture object 12, a clearance hole needs to be provided in the X-ray receiving portion 40 or the X-ray projection portion 20 located at the upper end of the mounting portion 14. To minimize the impact on the normal operation of the X-ray detection device, it is preferable to place the X-ray receiving portion 40 at the upper end of the mounting portion 14, avoiding openings in the X-ray projection portion 20.

[0051] During surgery, the robotic arm 13 moves the mounting part 14 into position, aligning the C-shaped opening of the mounting part 14 with the patient and the operating table so that the patient can be examined by an X-ray detection device.

[0052] This application also provides a guiding method for pedicle puncture, wherein the method includes:

[0053] S1. X-rays are projected along the direction of the pedicle for X-ray detection;

[0054] S2. Puncture is performed using a puncture device, and the puncture deviation is determined based on the X-ray image.

[0055] S3. Based on the assessment result, continue or stop the puncture.

[0056] Using the guidance method of this application, the position of the puncture instrument can be detected in real time by X-ray irradiation, thereby controlling the puncture process based on the detection results and ensuring accurate and smooth puncture.

[0057] Because X-rays are projected along the pedicle of the vertebra to be punctured, accurate detection results reflecting the position of the puncture object relative to the puncture site can be obtained (e.g., Figures 1 to 7 (X-ray images) are used to ensure the accuracy of the test results for puncture guidance.

[0058] Furthermore, preferably, the X-ray intensity can be adjusted according to the actual puncture situation to obtain clear and accurate detection results. It is understood that, to avoid damage to patients and related personnel due to excessive radiation, the X-ray intensity should be controlled within a safe range. Preferably, the total irradiation time for each puncture should not exceed 10 minutes, and the radiation dose should not exceed 2 Gy.

[0059] Furthermore, in the method of this application, the puncture object can be a puncture instrument, an implantation screw, etc., and the puncture object can be driven by a suitable power system to perform the puncture. For example, the puncture object 12 extends from the robotic arm tip 11 of the robot body 10. The puncture object 12 can be a puncture instrument, an implantation screw, etc., and can be driven by a suitable power system to perform the puncture. During puncture, the power system of the puncture object 12 drives the puncture object 12 to puncture in a set direction. In the process of puncturing and implanting the screw, the puncture instrument is first driven by the power system to puncture in a set direction to a predetermined position to confirm the puncture path, and then the screw is implanted along the puncture path of the puncture instrument 12.

[0060] In this application, to reduce unnecessary exposure, X-ray detection can be performed after the tip of the puncture device reaches the predetermined position, and the X-ray image can be used to determine whether the puncture has deviated. The predetermined position can be set as needed. For example, when the puncture device 12 is a puncture instrument, the predetermined position is the position where the puncture instrument reaches the puncture initiation position (i.e., the position where the puncture instrument contacts the pedicle bone surface); when the puncture device 12 is an implanted screw, the predetermined position can be a certain distance (e.g., 1 mm) after the puncture enters the pedicle surface.

[0061] Furthermore, the X-ray detection device can perform detection continuously or intermittently. For example, when the puncture object 12 is a puncture instrument, detection can be performed continuously after the puncture instrument reaches the predetermined position; when the puncture object 12 is an implantation screw, detection can be performed intermittently at predetermined puncture depths after the implantation screw reaches the predetermined position.

[0062] In this application, the puncture depth (i.e., the distance from the tip of the puncture object to the puncture point on the vertebral body surface (puncture start position) to the position where the screw implantation is completed (puncture end position)) can be set according to the different positions of the pedicles being punctured. For example, in lumbar puncture, the puncture depth can be set to 40mm-50mm; in thoracic puncture, the puncture depth can be set to 35mm-40mm.

[0063] Additionally, when performing puncture using a puncture instrument in step S2, the puncture path of the instrument can be set in an appropriate manner. Preferably, in step S2, the puncture is performed according to the preoperative plan. Specifically, appropriate examinations can be performed on the patient before the operation (e.g., CT scan or MRI of the puncture site) to develop a preoperative plan.

[0064] In step S3, deviation can be determined based on the relative positions of the puncture site and the pedicle in the X-ray projection images. Specifically:

[0065] If the image shows that the tip of the puncture object extends beyond the lateral wall of the pedicle, then the puncture is determined to be outward.

[0066] If the image shows that the tip of the puncture object extends beyond the inner wall of the pedicle, then the puncture is determined to be medial.

[0067] If the image shows that the tip of the puncture object extends beyond the upper wall of the pedicle, then the puncture is determined to be too high.

[0068] If the image shows that the tip of the puncture object extends beyond the inferior wall of the pedicle, then the puncture is determined to be too low.

[0069] The following description, with reference to the accompanying drawings, illustrates the method for guiding pedicle puncture using the method described in this application. A lumbar puncture is used as an example, and the pedicle puncture system of this application is employed for the puncture. Figures 1 to 7 The images from the CT scan show the positional relationship between the projection of the puncture site and the projection of the pedicle. For clarity, the projection of the cortical bone on the surface of the pedicle is marked with a white dashed line in the image (e.g., Figure 2 As shown, the dashed box in the left image represents the pedicle, which has an anatomical structure approximating an elliptical cylinder. The surface of the cylinder is cortical bone, and its projection is as follows. Figure 2 The ellipse marked with a white dashed line in the right-hand image, and the outer contour projection of the puncture site marked with a white solid line (in...) Figure 1 In this context, the puncture object is a puncture instrument. Figures 2 to 7 In the image, the puncture object is an implanted screw, and all projections are marked as circles.

[0070] First, a preoperative plan is developed based on the results of the patient's preoperative examinations, and the preoperative plan is input into the control unit 30, so that the control unit 30 can use this plan to navigate the puncture.

[0071] During the surgery, according to the preoperative plan, the control unit controls the robot body 10 to perform puncture through the puncture instrument to determine the puncture path. Specifically, when the tip of the puncture instrument reaches the bone surface of the predetermined puncture point in the lumbar spine, the X-ray projection unit 20 can project X-rays onto the puncture site in real time, wherein the X-ray projection unit 20 is set to project along the direction of the pedicle. Figure 1 The detection images show the positional relationship between the projection of the puncture instrument and the projection of the pedicle when the tip of the puncture instrument reaches the predetermined puncture point on the lumbar spine. During the puncture, continuous detection can be performed using an X-ray detection device. Simultaneously, the monitoring unit continuously acquires the detection images from the X-ray detection device and feeds them back to the control unit 30. The control unit can determine whether the puncture has deviated based on the detection images. Specifically:

[0072] If the projection of the puncture instrument is shown in the image to be within the pedicle projection area, then the puncture is determined to be without deviation, and the puncture can continue. The tip of the puncture instrument should not extend beyond the pedicle projection area throughout the entire puncture process.

[0073] If the projection of the puncture instrument in the image exceeds the lateral wall of the pedicle, it is determined that the puncture is off-center, the alarm unit sounds, and the control unit controls the robot body 10 to stop puncture. If the puncture distance has reached more than 2 / 3 of the set puncture depth, puncture can continue to be attempted, but the puncture speed and step size should be appropriately controlled (e.g., in 1mm steps) to adjust according to the actual situation. If the puncture distance is less than 2 / 3 of the set puncture depth, the puncture instrument can be withdrawn, and then the puncture direction can be adjusted before puncture is repeated.

[0074] If the image shows that the projection of the puncture object extends beyond the medial wall of the pedicle, such as Figure 5 As shown, if the puncture is determined to be too deep, the alarm unit will sound an alarm, and the control unit will control the robot body 10 to stop puncturing and retract the puncture object. Then, after adjusting the puncture direction, the puncture will be repeated.

[0075] If the projection of the puncture object in the image exceeds the upper wall of the pedicle, it is determined that the puncture is too high, the alarm unit sounds, and the control unit controls the robot body 10 to stop puncturing. If the puncture distance has reached more than 2 / 3 of the set puncture depth, puncture can continue to be attempted, but the puncture speed and step size should be appropriately controlled (e.g., in 1mm steps) to be adjusted according to the actual situation. If the puncture distance is less than 2 / 3 of the set puncture depth, the puncture instrument can be withdrawn, and then the puncture direction can be adjusted before puncturing again.

[0076] If the projection of the puncture object in the image exceeds the inferior wall of the pedicle, it is determined that the puncture is too low, the alarm unit sounds an alarm, and the control unit controls the robot body 10 to stop the puncture and retract the puncture instrument. Then, the puncture is repeated after adjusting the puncture direction.

[0077] After determining the puncture path, the screw can be inserted along that path. During the puncture, X-ray detection can be used intermittently at different depths of the inserted screw within the pedicle. Simultaneously, the monitoring unit acquires the X-ray images and feeds them back to the control unit. The control unit can then determine whether the puncture has deviated based on the images. Specifically:

[0078] As shown in the image, the projection of the implanted screw is located within the pedicle projection area. Figure 3 As shown, if the puncture has not deviated, the puncture can continue. The tip of the implanted screw should not extend beyond the pedicle projection area throughout the entire puncture process.

[0079] As shown in the image, the projection of the implanted screw extends beyond the lateral wall of the pedicle. Figure 4 As shown, if the puncture is determined to be outward, the alarm unit will sound an alarm, and the control unit will control the robot body 10 to stop puncturing. If the puncture distance has reached more than 2 / 3 of the set puncture depth, puncture can continue to be attempted, but the puncture speed and step size should be appropriately controlled (e.g., in 1mm steps) to adjust according to the actual situation. If the puncture distance is less than 2 / 3 of the set puncture depth, the implanted screw can be retracted, and then the puncture direction can be adjusted before puncturing again.

[0080] As shown in the image, the projection of the implanted screw extends beyond the medial wall of the pedicle. Figure 5 As shown, if the puncture is determined to be inward, the alarm unit will sound an alarm, and the control unit will control the robot body 10 to stop the puncture and retract the implanted screw. Then, the puncture direction will be adjusted and the puncture will be repeated.

[0081] If the image shows that the projection of the implanted screw extends beyond the superior wall of the pedicle, as... Figure 6 As shown, it is determined that the puncture is too high (i.e., at...). Figure 6 In the left view, the insertion end of the implanted screw is offset out of the image plane towards the observer's direction. The alarm unit sounds an alarm, and the control unit controls the robot body 10 to stop puncturing. If the puncture distance has reached more than 2 / 3 of the set puncture depth, puncture can continue to be attempted, but the puncture speed and step size should be appropriately controlled (e.g., in 1mm steps) to adjust according to the actual situation. If the puncture distance is less than 2 / 3 of the set puncture depth, the implanted screw can be retracted, and then puncture can be repeated after adjusting the puncture direction.

[0082] If the image shows that the projection of the implanted screw extends beyond the inferior wall of the pedicle, as... Figure 7 As shown, it is determined that the puncture was performed too low (i.e., at...). Figure 7 In the left view, the insertion end of the implanted screw deviates from the image plane away from the observer's location. The alarm unit sounds an alarm, and at the same time, the control unit controls the robot body 10 to stop puncturing and retract the implanted screw. Then, after adjusting the puncture direction, it re-punctures.

[0083] The preferred embodiments of this application have been described in detail above. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0084] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0085] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed in this application.

Claims

1. A pedicle puncture system characterized by, The pedicle puncture system includes a pedicle puncture robot and a control unit (30) for controlling the pedicle puncture robot. The pedicle puncture robot includes a robot body (10) and an X-ray detection device. The X-ray detection device includes an X-ray projection section (20) and an X-ray receiving section (40). At least one of the X-ray projection section (20) and the X-ray receiving section (40) is disposed on the robot body (10). The control unit is configured to control the puncture operation of the robot body (10) according to the detection result of the X-ray detection device. The X-ray projection unit (20) is configured to project along the pedicle. The robot body (10) includes a puncture device (12) disposed at the robotic arm head end (11) of the robot body (10), a robotic arm body (13), and a mounting part (14) mounted on the robotic arm body (13). The mounting part (14) has an upper end and a lower end opposite to each other. The upper end of the mounting part (14) forms the robotic arm head end (11). One of the X-ray receiving part (40) and the X-ray projection unit (20) is disposed at the upper end of the mounting part (14), and the other is disposed at the lower end of the mounting part (14), so that the X-ray receiving part (40) is disposed at the lower end of the mounting part (14). The X-ray projection unit (20) and the X-ray receiving unit (40) can move synchronously through the mounting unit (14); the X-ray projection unit (20) or the X-ray receiving unit (40) is provided with a clearance hole to avoid the puncture object (12); the X-ray detection device includes a monitoring unit for monitoring the detection results, so that the control unit can determine whether the puncture has deviated based on the feedback of the monitoring unit and control the robot body (10); the monitoring unit is electrically connected to the control unit (30); the control unit (30) determines whether the puncture has deviated based on the feedback of the monitoring unit, and when the puncture deviates, the control unit controls the robot body (10) to stop the puncture.

2. The pedicle puncture system according to claim 1, characterized in that, The pedicle puncture system includes an input unit, and the control unit is electrically connected to the input unit to control the puncture operation of the robot body (10) according to the preoperative planning navigation input by the input unit.

3. The pedicle puncture system according to claim 1, characterized in that, The control unit is configured to control the X-ray projection angle and / or X-ray projection intensity of the X-ray projection unit (20).

4. The pedicle puncture system according to claim 1, characterized in that, The X-ray detection device begins detection after the tip of the puncture object inserted into the robot body (10) reaches a predetermined position.

5. The pedicle puncture system according to claim 4, characterized in that, The control unit determines that the puncture has deviated under the following circumstances: (a) The image shows that the projection of the puncture object extends beyond the lateral wall of the pedicle; (b) The image shows that the projection of the puncture object extends beyond the medial wall of the pedicle; (c) The image shows that the projection of the puncture object extends beyond the superior wall of the pedicle; (d) The image shows that the projection of the puncture object extends beyond the inferior wall of the pedicle.

6. The pedicle puncture system according to claim 1, characterized in that, The monitoring unit includes an alarm unit. When the puncture deviates, the control unit controls the alarm unit to sound an alarm. After the tip of the puncture object enters the pedicle, if the monitoring unit detects that the puncture has deviated, the alarm unit will sound an alarm.

7. The pedicle puncture system according to claim 6, characterized in that, If the puncture deviates, the control unit controls the tip of the puncture object to stop the puncture.

Images