Pedicle puncture robot

Abstract

The present application discloses a pedicle puncture robot, wherein the pedicle puncture robot comprises a robot body (10) and an X-ray detection device, wherein the X-ray detection device comprises an X-ray projection unit (20) and an X-ray receiving unit (40), and at least one of the X-ray projection unit (20) and the X-ray receiving unit (40) is arranged on the robot body (10). The present application can detect the puncture position in real time during the puncture process through the X-ray projection unit, thereby controlling the puncture process according to the detection result, and ensuring that the puncture is accurate and smooth.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and more specifically, to a pedicle puncture robot. Background Art

[0002] Pedicle puncture (i.e. pedicle screw implantation) is a basic technique in spinal surgery. The accuracy of manual pedicle screw implantation is poor, with an error rate of more than 20% to varying degrees. In some cases of scoliosis or vertebral tumors where the pedicles are damaged, the error rate of manual pedicle screw implantation is even higher. Once a pedicle implantation error occurs, it may cause damage to the neural structure, thoracic and abdominal organs, and vascular structure, and may also lead to failure of internal fixation.

[0003] Although there is a technology that uses robots for pedicle puncture, the operation of the robot is based on the preoperative plan obtained from the preoperative imaging results of the patient. Factors such as patient position drift during the operation and the tool slipping on the irregular vertebral surface can lead to errors during the puncture process.

[0004] Therefore, how to improve the accuracy of pedicle puncture becomes a technical problem that needs to be solved in this field. Summary of the invention

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

[0006] According to the present application, a pedicle puncture robot is proposed, wherein the pedicle puncture robot includes a robot body and an X-ray detection device, the X-ray detection device includes an X-ray projection part and an X-ray receiving part, and at least one of the X-ray projection part and the X-ray receiving part is arranged on the robot body.

[0007] Optionally, the X-ray projection part is configured to be able to adjust the X-ray projection angle.

[0008] Optionally, the X-ray projection part is configured to be able to adjust the X-ray projection intensity.

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

[0010] Optionally, the robot body includes a puncture object arranged at the head end of a robotic arm of the robot body, and one of the X-ray projection part and the X-ray receiving part is arranged at the head end of the robotic arm and is provided with an avoidance hole for avoiding the puncture object.

[0011] Optionally, the X-ray detection device includes a monitoring unit for monitoring the detection results, and the control unit of the robot body is electrically connected to the monitoring unit.

[0012] Optionally, the pedicle puncture robot comprises an alarm unit. When the head end of the puncture object enters the pedicle by a predetermined distance, the alarm unit is configured to alarm when the monitoring unit detects puncture deviation.

[0013] Optionally, the alarm unit is configured to alarm via sound and / or light.

[0014] Optionally, the robot body stops puncturing in response to an alarm from the alarm unit.

[0015] Optionally, the robot body includes a robotic arm body and a mounting part mounted on the robotic arm body, the mounting part having an upper end and a lower end opposite to each other, the upper end of the mounting part forming the robotic arm head end, one of the X-ray receiving part and the X-ray projection part is arranged at the upper end of the mounting part, and the other is arranged at the lower end of the mounting part.

[0016] Optionally, the mounting portion is C-shaped, and / or the X-ray receiving portion is arranged at an upper end of the mounting portion.

[0017] According to the technical solution of the present application, the puncture position can be detected in real time during the puncture process by an X-ray detection device, so that the puncture progress can be controlled according to the detection result to ensure that the puncture is accurate and smooth.

[0018] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic implementation modes and descriptions of the present application are used to explain the present application. In the accompanying drawings:

[0020] Figure 1 A schematic diagram of a pedicle puncture robot performing puncture according to a preferred embodiment of the present application;

[0021] Figure 2 This is the detection image of normal puncture;

[0022] Figures 3 to 7 It shows the deviations that occur during the puncture process and their detection images. DETAILED DESCRIPTION

[0023] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the implementation modes.

[0024] The present application provides a pedicle puncture robot, wherein 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 part 20 and an X-ray receiving part 40, and at least one of the X-ray projection part 20 and the X-ray receiving part 40 is arranged on the robot body 10.

[0025] By using the pedicle puncture robot of the present application, the puncture position can be detected in real time during the puncture process through an X-ray detection device, so that the puncture progress can be controlled according to the detection result to ensure that the puncture is accurate and smooth.

[0026] When performing pedicle puncture, it is necessary to puncture different patients and different parts. In order to adapt to different puncture situations, the X-ray projection part 20 is configured to be able to adjust the X-ray projection angle to adjust the X-ray projection angle according to the needs of the actual puncture situation, thereby obtaining accurate real-time detection results.

[0027] In addition, preferably, the X-ray projection unit 20 can be configured to be able to adjust the X-ray projection intensity, so as to adjust the projection intensity according to the actual puncture situation to obtain clear and accurate detection results. It can be understood that in order to avoid excessive radiation causing damage to patients and related operators, the X-ray projection intensity should be controlled within a safe range. Preferably, the total projection time of each puncture does not exceed 10 minutes, and the radiation dose does not exceed 2Gy.

[0028] It is understandable that when the X-ray projection unit 20 is used to project X-rays to detect the position of the puncture object (e.g., puncture instrument, implant screw) relative to the puncture site, the accuracy of the detection depends largely on the projection direction. Preferably, the X-ray projection unit 20 is configured to project along the direction of the pedicle. That is, when puncturing, the projection direction of the X-ray projection unit 20 is made consistent with the direction of the pedicle currently punctured, so as to obtain a detection result that accurately reflects the position of the puncture object relative to the puncture site (e.g., Figures 1 to 7 X-ray image on the right side of the center).

[0029] In addition, the robot body 10 includes a puncture object 12 disposed at the head end of the robot arm of the robot body 10, and the puncture object 12 extends from the head end of the robot arm of the robot body 10. The puncture object 12 can be a puncture instrument, an implant screw, etc., and can be driven by an appropriate power system for puncture. During puncture, the power system of the puncture object 12 drives the puncture object 12 to puncture along a set direction. In the process of puncturing and implanting the screw, the puncture instrument is first driven by the power system to puncture to a predetermined position along the set direction to confirm the puncture path, and then the screw is implanted along the puncture path of the puncture instrument 12.

[0030] To facilitate X-ray detection during puncture, one of the X-ray projection unit 20 and the X-ray receiving unit 40 can be set at the head end of the robot arm of the robot body 10. Among them, the one of the X-ray projection unit 20 and the X-ray receiving unit 40 set at the head end of the robot arm needs to be provided with an avoidance hole to allow the puncture operation of the puncture object 12. To facilitate the setting and ensure the normal progress of X-ray detection, preferably, the puncture object 12 and the X-ray receiving unit 40 are set at the head end of the robot arm of the robot body 10, and the X-ray receiving unit 40 is provided with an avoidance hole to avoid the puncture object 12.

[0031] In the present application, in order to facilitate the acquisition of X-ray detection images, the X-ray detection device includes a monitoring unit for monitoring the detection results (e.g., obtaining the X-ray detection images in real time), and the control unit 15 of the robot body 10 is electrically connected to the monitoring unit. Thus, feedback can be provided to the puncture of the robot body 10 based on the detection images obtained by the monitoring unit to assist the smooth progress of the puncture. For example, the puncture can be stopped in time and the puncture parameters (e.g., puncture direction, stepping) can be adjusted based on the feedback from the monitoring unit.

[0032] In the present application, in order to reduce unnecessary exposure, the X-ray detection device can be used to detect after the head end of the puncture object reaches the 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 puncture starting position (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.

[0033] In addition, the detection of the X-ray detection device can be performed continuously or intermittently. For example, when the puncture object 12 is a puncture instrument, the detection can be performed continuously after the puncture instrument reaches a predetermined position; when the puncture object 12 is an implant screw, the detection can be performed intermittently at different predetermined puncture depths after the implant screw reaches a predetermined position.

[0034] In the present application, the puncture depth (i.e., the distance from the puncture point where the head end of the puncture object reaches the vertebral surface (puncture starting position) to the position where the screw implantation is completed (puncture ending position)) can be set accordingly according to the different positions of the punctured pedicles. For example: during lumbar puncture, the puncture depth can be set to 40mm-50mm; during thoracic puncture, the puncture depth can be set to 35mm-40mm.

[0035] In addition, the pedicle puncture robot may include an alarm unit to alert the relevant operator through the alarm unit when a problem such as deviation occurs during the puncture process. For example, the alarm unit is configured to alarm when the monitoring unit detects that the puncture is deviated. That is, after the head end of the puncture object enters the pedicle, if the monitoring unit detects that the puncture is deviated, the alarm unit will alarm at this time. To this end, the alarm unit can be controlled by the control unit 15 to turn on the alarm unit when the control unit 15 determines that the puncture is deviated.

[0036] The alarm unit can provide a warning in an appropriate manner to achieve the alarm effect. Preferably, in order to enhance the warning effect, the alarm unit is configured to alarm by sound and / or light. For example, the alarm unit can include a buzzer and / or an alarm flashing light.

[0037] In addition, after the alarm unit sounds an alarm, it is preferred to stop the puncture at the same time. To this end, the robot body 10 can stop the puncture in response to the alarm of the alarm unit. Specifically, the control unit 15 of the robot body 10 can be electrically connected to the alarm unit to control the robot body 10 to stop the puncture according to its feedback.

[0038] In the present application, in order to ensure that the detection of the X-ray detection device is carried out normally, it is necessary to make the X-ray projection part 20 and the X-ray receiving part 40 have a fixed relative position to each other. In particular, when one of the X-ray projection part 20 and the X-ray receiving part 40 is set at the head end of the robot arm and adjusts the puncture position and angle with the puncture object 12, the other needs to move accordingly, so that the X-ray projection part 20 and the X-ray receiving part 40 remain relatively fixed, so that they can cooperate in detection.

[0039] The X-ray projection part 20 and the X-ray receiving part 40 can be fixed in relative position by an appropriate method. Preferably, the robot body 10 may include a mechanical arm body 13 and a mounting part 14 mounted on the mechanical arm body 13, wherein the mounting part 14 has an upper end and a lower end opposite to each other, and the upper end of the mounting part 14 forms the head end of the mechanical arm, and one of the X-ray receiving part 40 and the X-ray projection part 20 is arranged at the upper end of the mounting part 14, and the other is arranged at the lower end of the mounting part 14. The X-ray receiving part 40 and the X-ray projection part 20 can realize synchronous movement through the mounting part 14, so that the X-ray radiation of the X-ray projection part 20 can always be received through the X-ray receiving part 40. In addition, in order to ensure that the X-ray radiation of the X-ray projection part 20 can be received through the X-ray receiving part 40, the X-ray projection part 20 and the X-ray receiving part 40 should be installed at appropriate positions on the mounting part 14, so that the X-ray projection part 20 and the X-ray receiving part 40 are kept facing each other along the radiation projection direction.

[0040] The mounting portion 14 may be in various appropriate specific forms. To avoid the operating table, preferably, 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 portion can be movably mounted on the robot arm body 13, so as to be able to adjust the position relative to the robot arm 13, thereby adjusting the positions 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 head end of the robot arm, and the puncture object 12 is also mounted thereon. As mentioned above, in order to ensure the normal use of the puncture object 12, it is necessary to set an avoidance hole in the X-ray receiving portion 40 or the X-ray projection portion 20 disposed at the upper end of the mounting portion 14. In order to minimize the impact on the normal operation of the X-ray detection device, it is preferred to set the X-ray receiving portion 40 at the upper end of the mounting portion 14 to avoid opening a hole in the X-ray projection portion 20.

[0041] During surgery, the robot arm body 13 drives the mounting portion 14 to move into position so that the C-shaped opening of the mounting portion 14 is aligned with the patient and the operating table so that the patient can be detected by the X-ray detection device.

[0042] The operation of the pedicle puncture robot of the present application is described below with reference to the accompanying drawings. Figures 1 to 7 The image of the detection image shows the positional relationship between the projection of the puncture object and the projection of the pedicle. For clear display, the projection of the bone cortex on the surface of the pedicle is marked with a white dotted line in the figure (such as Figure 2 As shown in the figure, the dotted box on the left is the pedicle, the anatomical structure is similar to an elliptical cylinder, and the surface of the cylinder is the bone cortex, and its projection is as shown in Figure 2 The oval is marked with a white dotted line in the right image), and the outer contour projection of the puncture object is marked with a white solid line (in Figure 1 In Figures 2 to 7 In the figure, the puncture object is an implanted screw, and the projection is marked as a circle).

[0043] First, a preoperative plan is developed based on the results of the patient's preoperative examination so that the puncture can be navigated based on this.

[0044] During the operation, the robot body 10 is controlled to perform puncture through the puncture instrument according to the preoperative plan to determine the puncture path. Specifically, when the head end of the puncture instrument reaches the bone surface of the predetermined puncture point of the lumbar spine, the X-ray projection unit 20 can be used to project X-rays to the puncture position in real time. Figure 1 The detection image in the figure shows 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 bone surface of the predetermined puncture point of the lumbar spine. In the subsequent puncture process, the X-ray detection device can be used for continuous detection, and the monitoring unit can continuously obtain the detection image of the X-ray detection device and feed it back to the control unit of the robot body 10. The control unit can determine whether the puncture is deviated based on the detection image. Specifically:

[0045] If the image shows that the projection of the puncture instrument is within the pedicle projection area, it is determined that the puncture has not deviated and the puncture can continue. The tip of the puncture instrument should not exceed the pedicle projection area during the entire puncture process.

[0046] If the image shows that the projection of the puncture instrument exceeds the outer wall of the pedicle, it is determined that the puncture is outward, and the alarm unit alarms. At the same time, the control unit controls the robot body 10 to stop puncturing. At this time, if the puncture distance has reached more than 2 / 3 of the set puncture depth, you can continue to try puncture, but at the same time, you should properly control the puncture speed and step (for example, 1 mm as a step) to adjust at any time according to actual conditions; at this time, if the puncture distance is less than 2 / 3 of the set puncture depth, you can return the puncture instrument, and then re-puncture after adjusting the puncture direction.

[0047] As shown in the image, the projection of the puncture object exceeds the inner wall of the pedicle. Figure 5 As shown, it is determined that the puncture is biased inside, the alarm unit alarms, and the control unit controls the robot body 10 to stop puncturing and return the puncture object, and then re-puncture after adjusting the puncture direction.

[0048] If the image shows that the projection of the puncture object exceeds the upper wall of the pedicle, it is determined that the puncture is upward, and the alarm unit alarms. At the same time, the control unit controls the robot body 10 to stop puncturing. At this time, if the puncture distance has reached more than 2 / 3 of the set puncture depth, you can continue to try puncture, but at the same time, you should properly control the puncture speed and step (for example, 1 mm as a step) to adjust at any time according to actual conditions; at this time, if the puncture distance is less than 2 / 3 of the set puncture depth, you can return the puncture instrument, and then re-puncture after adjusting the puncture direction.

[0049] If the image shows that the projection of the puncture object exceeds the lower wall of the pedicle, it is determined that the puncture is biased downward, and the alarm unit alarms. At the same time, the control unit controls the robot body 10 to stop puncturing and retract the puncture instrument, and then re-punctures after adjusting the puncture direction.

[0050] After the puncture path is determined, the implant screw can be inserted along the puncture path for implantation. During the puncture process, the implant screw can be intermittently detected by an X-ray detection device at different depths into the pedicle. At the same time, the monitoring unit obtains the detection image of the X-ray detection device and feeds it back to the control unit of the robot body 10. The control unit can determine whether the puncture is deviated based on the detection image. Specifically:

[0051] As shown in the image, the projection of the implanted screw is located within the pedicle projection area. Figure 3 If the puncture is not deviated, the puncture can be continued. The head of the implanted screw should not exceed the pedicle projection area during the entire puncture process.

[0052] As shown in the image, the projection of the implanted screw exceeds the lateral wall of the pedicle. Figure 4 As shown, it is determined that the puncture is outward, the alarm unit alarms, and the control unit controls the robot body 10 to stop puncturing. At this time, if the puncture distance has reached more than 2 / 3 of the set puncture depth, you can continue to try puncturing, but at the same time, you should properly control the puncture speed and step (for example, 1mm as a step) to adjust at any time according to the actual situation; at this time, if the puncture distance is less than 2 / 3 of the set puncture depth, you can withdraw the implanted screw, and then re-puncture after adjusting the puncture direction.

[0053] As shown in the image, the projection of the implanted screw exceeds the medial wall of the pedicle. Figure 5 As shown, it is determined that the puncture is biased inside, and the alarm unit alarms. At the same time, the control unit controls the robot body 10 to stop puncturing and retract the implant screw, and then re-punctures after adjusting the puncture direction.

[0054] As shown in the image, the projection of the implanted screw exceeds the upper wall of the pedicle. Figure 6 As shown, it is judged that the puncture is upward (that is, Figure 6 In the left view, the insertion end of the implanted screw is offset outside the plane of the image toward the direction of the observer), the alarm unit sounds an alarm, and the control unit controls the robot body 10 to stop puncturing. At this time, if the puncture distance has reached more than 2 / 3 of the set puncture depth, you can continue to try puncture, but at the same time, you should properly control the puncture speed and step (for example, 1 mm as a step) to adjust at any time according to actual conditions; at this time, if the puncture distance is less than 2 / 3 of the set puncture depth, you can withdraw the implanted screw, and then re-puncture after adjusting the puncture direction.

[0055] As shown in the image, the projection of the implanted screw exceeds the lower wall of the pedicle. Figure 7 As shown, it is judged that the puncture is lower (that is, Figure 7 In the left side view, the penetration end of the implanted screw deviates outside the plane of the picture and away from the direction of the observer), 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, and then re-punctures after adjusting the puncture direction.

[0056] The preferred embodiments of the present application are described in detail above; however, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, a variety of simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the protection scope of the present application.

[0057] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0058] In addition, the various implementation modes of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed in the present application.

Claims

1. A pedicle puncture robot, characterized in that: The pedicle puncture robot comprises a robot body (10) and an X-ray detection device. The X-ray detection device comprises an X-ray projection unit (20) and an X-ray receiving unit (40), wherein the X-ray projection unit (20) and the X-ray receiving unit (40) are arranged on the robot body (10), and the X-ray projection unit (20) is arranged to project along the direction of the pedicle. The robot body (10) comprises a puncture object (12) arranged at the head end of a robot arm of the robot body (10), and the X-ray receiving unit (40) is provided with an avoidance hole for avoiding the puncture object (12). The X-ray detection device comprises a monitoring unit for monitoring the detection result, the control unit (15) of the robot body (10) is electrically connected to the monitoring unit, and the pedicle puncture robot comprises an alarm unit, and when the head end of the puncture object (12) enters the pedicle by a predetermined distance, the alarm unit is configured to alarm when the monitoring unit detects that the puncture is deviated; The puncture object (12) is driven by a power system to puncture in a set direction to a predetermined position to confirm the puncture path, and then detected by the X-ray detection device; The monitoring unit continuously obtains detection images of the X-ray detection device and feeds them back to the control unit of the robot body (10); If the detection image shows that the projection of the puncture object exceeds the outer wall or upper wall of the pedicle, it is determined that the puncture is biased to the outside or to the upper side, and the alarm unit alarms. At the same time, the control unit controls the robot body (10) to stop puncturing. If the puncture distance is greater than 2 / 3 of the set puncture depth, the puncture is continued, and the puncture speed and step are controlled. If the puncture distance is not greater than 2 / 3 of the set puncture depth, the puncture object is withdrawn, and the puncture direction is adjusted and the puncture is performed again. If the image shows that the projection of the puncture object exceeds the inner wall or the lower wall of the pedicle, it is determined that the puncture is biased inward or downward, and the alarm unit sounds an alarm, and the control unit controls the robot body (10) to stop puncturing and retract the puncture object, adjust the puncture direction, and then puncture again.

2. The pedicle puncture robot according to claim 1, characterized in that: The X-ray projection unit (20) is configured to be able to adjust the X-ray projection angle and / or the X-ray projection intensity.

3. The pedicle puncture robot according to claim 1, characterized in that: The alarm unit is configured to alarm through sound and / or light.

4. The pedicle puncture robot according to claim 3, characterized in that: The robot body (10) stops puncturing in response to the alarm of the alarm unit.

5. The pedicle puncture robot according to any one of claims 1 to 4, characterized in that: The robot body (10) includes a robot arm body (13) and a mounting portion (14) mounted on the robot arm body (13), wherein the mounting portion (14) has an upper end and a lower end opposite to each other, and the upper end of the mounting portion (14) forms the head end of the robot arm, and one of the X-ray receiving portion (40) and the X-ray projection portion (20) is arranged at the upper end of the mounting portion (14), and the other is arranged at the lower end of the mounting portion (14).

6. The pedicle puncture robot according to claim 5, characterized in that: The mounting portion (14) is C-shaped, and / or the X-ray receiving portion (40) is arranged at the upper end of the mounting portion (14).

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