A navigation surgery system and registration method

Abstract

The application provides a navigation surgery system machine registration method, and the navigation surgery system comprises a robot device and a navigation device; the robot device comprises a base and a support arm, the end of the support arm is connected with a target part of a surgery object, the target part is related to a target joint; a third coordinate system is arranged on the target joint; the navigation device comprises a positioning part, the positioning part is arranged on a bearing table or the base, and a fourth coordinate system is arranged on the positioning part; the navigation surgery system is used for determining a conversion matrix between the fourth coordinate system and a planning coordinate system according to a conversion matrix between the fourth coordinate system and the third coordinate system and a conversion matrix between the third coordinate system and the planning coordinate system. The navigation reliability of the navigation surgery system is high, and the surgery time is shortened.

Description

Technical Field

[0001] This invention relates to the field of robot-assisted navigation surgery, specifically to a navigation surgery system and registration method. Background Technology

[0002] Navigation-guided surgical systems are widely used in surgical procedures, especially orthopedic surgeries such as joint replacement. Current orthopedic navigation-guided surgical systems typically place a patient target within or near the surgical area. This target is usually mounted on the patient's body and is usually an optical target. Optical tracking devices then monitor the target's pose changes in real time, controlling the robotic arm's movement accordingly for compensation. However, during surgery, medical staff frequently adjust their positions near the surgical area, easily obstructing the patient target. This can cause the navigation system to fail to recognize the target, affecting robotic arm movement and prolonging surgery time. Furthermore, during surgery, medical staff adjust the position of the operated limb, perform osteotomies, and implant prostheses using tapping techniques. These actions can easily cause the patient target to become dislodged, leading to navigation deviations or even system failure. Summary of the Invention

[0003] The purpose of this invention is to provide a navigation surgical system and registration method, which aims to improve the navigation reliability of the navigation surgical system and reduce the occurrence of navigation deviations or failures.

[0004] To achieve the above objectives, the present invention provides a navigation surgical system, including a robotic device and a navigation device that are communicatively connected;

[0005] The robot device includes a support arm assembly, which includes a base and a support arm connected to the base. The base is used to be mounted on a support platform, and the end of the support arm is used to connect to a support member.

[0006] The support platform is used to support the surgical object, and the support member is used to connect with the target part of the surgical object, the target part being related to the target joint of the surgical object;

[0007] The surgical object has a third coordinate system established on the target joint;

[0008] The navigation device includes a positioning unit and a tracking device. The positioning unit is disposed on the support platform or the base, and the navigation device has a fourth coordinate system established on the positioning unit. The tracking device is used to identify the positioning unit in order to identify the fourth coordinate system.

[0009] The navigation surgical system is configured to obtain the transformation matrix between the third coordinate system and the fourth coordinate system based on the relative positional relationship between the positioning part and the base, the pose of the support arm, and the relative positional relationship between the support member and the target joint; and to determine the transformation matrix between the fourth coordinate system and the planned coordinate system based on the transformation matrix between the third coordinate system and the fourth coordinate system and the transformation matrix between the third coordinate system and the planned coordinate system established according to the preoperative planning.

[0010] Optionally, the positioning part is disposed on the support platform and remains relatively stationary with respect to the support platform; the navigation surgical system is configured to determine the relative positional relationship between the positioning part and the base based on the relative positional relationship between the positioning part and the support platform, and the relative positional relationship between the base and the support platform.

[0011] Optionally, the navigation surgical system includes the support platform assembly, which includes the support platform, a first guide mechanism, a second guide mechanism, a first drive unit, and a second drive unit. The first guide mechanism is disposed on the support platform and extends along a first direction. The second guide mechanism is disposed on the first guide mechanism and extends along a second direction. The second direction is perpendicular to the first direction, and one of the first direction and the second direction is the length direction of the support platform, while the other is the width direction of the support platform. The base is disposed on the second guide mechanism. The first drive unit is configured to drive the second guide mechanism to move along the first guide mechanism, and the second drive unit is configured to drive the base to move along the second guide mechanism.

[0012] The navigation surgical system is configured to obtain the relative positional relationship between the base and the support platform based on the distance the second guide mechanism moves in the first direction and the distance the base moves in the second direction.

[0013] Optionally, the base is used to be fixedly connected to the support platform; the positioning part is connected to the base and remains relatively stationary with respect to the base.

[0014] Optionally, the support arm includes a plurality of links connected in sequence, and the connection between two adjacent links forms a support arm joint;

[0015] The navigation surgical system is configured to obtain the position and orientation of the support arm based on the relevant parameters of each of the links and the rotation angle of each of the support arm joints.

[0016] Optionally, the navigation system further includes a target pen for marking multiple feature points on the surgical object, the feature points being recognizable by the tracking device; the navigation surgical system is configured to obtain a transformation matrix between the third coordinate system and the planned coordinate system based on the multiple feature points.

[0017] Optionally, the support arm assembly further includes a first joint portion disposed at the end of the support arm; the navigation surgical system further includes the support member, which includes a support portion and a second joint portion; the support portion includes a first support plate and a second support plate arranged at an angle, the first support plate and the second support plate being smoothly connected, and both the first support plate and the second support plate are provided with through holes; the second joint portion is disposed on the support portion and is used to connect with the first joint portion.

[0018] Optionally, the first joint includes a hinge seat, a pressure cap, and a locking member. The pressure cap has opposing free edges and a mating edge, the mating edge being hinged to the hinge seat, and a clamping space for clamping the second joint is formed between the pressure cap and the hinge seat. The locking member is used to selectively lock the pressure cap and the hinge seat or release the lock between the pressure cap and the hinge seat. When the locking member locks the pressure cap and the hinge seat, it prevents the pressure cap from rotating relative to the hinge seat, so that the clamping space matches the second joint. When the locking member releases the lock between the pressure cap and the hinge seat, it allows the pressure cap to rotate relative to the hinge seat, so that the clamping space increases.

[0019] Optionally, the robotic device further includes a working arm, the end of which is used to connect surgical instruments; the navigation surgical system is configured to control the movement of the working arm based on a transformation matrix between the fourth coordinate system and the planned coordinate system.

[0020] To achieve the above objectives, the present invention also provides a registration method based on the aforementioned navigation surgical system, the registration method comprising the following steps:

[0021] After the target part of the surgical object is supported by the support arm and the support member connected to the end of the support arm, a third coordinate system is established on the target joint of the surgical object.

[0022] Establish the fourth coordinate system on the positioning part;

[0023] Obtain the planning coordinate system based on the preoperative planning; and,

[0024] Based on the relative positional relationship between the positioning part and the base, the pose of the support arm, and the relative positional relationship between the support member and the target joint, the transformation matrix between the third coordinate system and the fourth coordinate system is obtained. Furthermore, based on the transformation matrix between the third coordinate system and the fourth coordinate system and the transformation matrix between the planned coordinate system and the third coordinate system, the transformation matrix between the planned coordinate system and the fourth coordinate system is determined.

[0025] Optionally, the positioning part is disposed on the support platform and remains relatively stationary with respect to the support platform;

[0026] The step of obtaining the relative positional relationship between the positioning part and the base includes:

[0027] The relative positional relationship between the positioning part and the support platform is obtained, as well as the relative positional relationship between the base and the support platform is obtained;

[0028] The relative positional relationship between the positioning part and the base is obtained based on the relative positional relationship between the positioning part and the support platform, and the relative positional relationship between the base and the support platform.

[0029] Optionally, the base is configured to be movable along the length and / or width of the support platform;

[0030] The steps for obtaining the relative positional relationship between the base and the support platform include:

[0031] Obtain the distance the base moves along the length direction of the support platform and / or obtain the distance the base moves along the width direction of the support platform;

[0032] The relative positional relationship between the base and the support platform is obtained based on the distance the base moves along the length direction of the support platform and / or the distance the base moves along the width direction of the support platform.

[0033] Optionally, the support arm includes a plurality of sequentially connected links, with a support arm joint formed between two adjacent links;

[0034] The steps for obtaining the pose of the support arm include: obtaining the pose of the support arm based on the relevant parameters of each link and the rotation angle of each support arm joint;

[0035] or,

[0036] The step of obtaining the transformation matrix between the planning coordinate system and the third coordinate system includes:

[0037] The transformation matrix between the planned coordinate system and the third coordinate system is obtained from the bone registration.

[0038] Compared with the prior art, the navigation surgical system and registration method of the present invention have the following advantages:

[0039] The aforementioned navigation surgical system includes a robotic device and a navigation device connected in communication; wherein, the robotic device includes a support arm assembly, the support arm assembly including a base and a support arm connected to the base, the base being used to mount on a support platform, and the end of the support arm being used to connect to a support member; the support platform is used to mount a surgical object, the support member being used to connect to a target site of the surgical object, the target site being related to a target joint of the surgical object; the surgical object has a third coordinate system established on the target joint of the surgical object; the navigation device includes a positioning unit and a tracking device, the positioning unit being disposed on the support platform or the base. The navigation device has a fourth coordinate system established on the positioning part; the tracking device is used to identify the positioning part to identify the fourth coordinate system; the navigation surgical system is configured to obtain the transformation matrix between the third coordinate system and the fourth coordinate system based on the relative positional relationship between the positioning part and the base, the pose of the support arm, and the relative positional relationship between the support member and the target joint; and to determine the transformation matrix between the fourth coordinate system and the planned coordinate system based on the transformation matrix between the third coordinate system and the fourth coordinate system and the transformation matrix between the third coordinate system and the planned coordinate system established according to the preoperative planning. By setting the positioning part on the support platform or the base, the positioning part can be far away from the surgical area. In this way, even if the navigation device is an optical navigation device (i.e., the positioning part includes an optical target), the probability of the positioning part being blocked by medical staff is greatly reduced, and the probability of the navigation surgical system failing due to the positioning part being blocked is greatly reduced. This is beneficial to improving the user-friendliness of human-computer interaction and facilitating the positioning and surgical operation of medical staff. Furthermore, by using this navigation surgical system, there is no need to place a patient target on the patient's body, thus avoiding the possibility of the patient target becoming loose due to movements during the surgical procedure. This prevents the navigation surgical system from deviating or malfunctioning due to a loose patient target. Moreover, the support arm and the support component connected to the end of the support arm jointly support the target area of ​​the surgical subject, providing more reliable support. During the surgery, the position of the target area can be adjusted by changing the posture of the support arm, making the positioning and adjustment of the target area more convenient. Attached Figure Description

[0040] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0041] Figure 1 This is a schematic diagram illustrating an application scenario of the navigation surgical system provided in Embodiment 1 of the present invention;

[0042] Figure 2 This is a schematic diagram of the joint module of the support arm assembly of the navigation surgical system provided in Embodiment 1 of the present invention;

[0043] Figure 3 This is a schematic diagram of the support arm assembly of the navigation surgical system provided in Embodiment 1 of the present invention, showing the locking member locking the pressure cover and the hinge seat.

[0044] Figure 4 This is a schematic diagram of the support arm assembly of the navigation surgical system provided in Embodiment 1 of the present invention, in which the locking member in the diagram releases the locking between the pressure cap and the hinge seat;

[0045] Figure 5 yes Figure 4 The diagram shows a partial structural schematic of the support arm assembly of the navigation surgical system.

[0046] Figure 6 This is a partial structural schematic diagram of the locking member of the support arm assembly of the navigation surgical system provided in Embodiment 1 of the present invention;

[0047] Figure 7 This is a schematic diagram of the supporting component of the navigation surgical system provided in Embodiment 1 of the present invention;

[0048] Figure 8 This is a schematic diagram showing the connection relationship between the support arm assembly and the support member of the navigation surgical system provided in Embodiment 1 of the present invention;

[0049] Figure 9 This is a schematic diagram showing the connection relationship between the support arm assembly and the support member of the navigation surgical system provided in Embodiment 1 of the present invention. Figure 9 and Figure 8 The orientations of the supporting components differ;

[0050] Figure 10 yes Figure 9 This is a partial structural diagram of the connection between the support arm assembly and the support member of the navigation surgical system shown.

[0051] Figure 11 This is a schematic diagram of the application scenario of the navigation surgical system provided by the present invention according to Embodiment 1. The figure shows the first coordinate system, the second coordinate system, the third coordinate system, the fourth coordinate system and the planned coordinate system.

[0052] Figure 12 This is a schematic diagram of the support arm assembly and the sterile cover fitted onto a portion of the structure of the navigation surgical system provided in Embodiment 1 of the present invention.

[0053] Figure 13This is a flowchart illustrating the process of performing orthopedic surgery assisted by the navigation surgical system provided in Embodiment 1 of the present invention;

[0054] Figure 14 This is a schematic diagram showing the connection relationship between the support arm assembly and the support member of the navigation surgical system provided in Embodiment 2 of the present invention;

[0055] Figure 15 This is a schematic diagram illustrating an application scenario of the navigation surgical system provided in Embodiment 2 of the present invention;

[0056] Figure 16 This is a schematic diagram of the magnetic base of the support arm assembly of the navigation surgical system provided in Embodiment 1 of the present invention. The electromagnetic component of the magnetic base in the figure is in the off state.

[0057] Figure 17 This is a partial structural diagram of the magnetic base of the support arm assembly of the navigation surgical system provided in Embodiment 1 of the present invention. The electromagnetic component of the magnetic base in the diagram is in the open state.

[0058] Figure 18 This is a schematic diagram illustrating an application scenario of the navigation surgical system provided in Embodiment 3 of the present invention;

[0059] Figure 19 This is a schematic diagram of the application scenario of the navigation surgical system provided by the present invention according to Embodiment 3. The diagram shows the first coordinate system, the second coordinate system, the third coordinate system, the fourth coordinate system and the planned coordinate system. Detailed Implementation

[0060] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0061] The purpose of this invention is to provide a navigation surgical system and its registration method, which can achieve real-time navigation of the navigation surgical system without installing a patient target on the patient's body. This avoids navigation failure caused by the patient target being obstructed or loosened due to operations during the operation, thus shortening the operation time and improving the operation efficiency.

[0062] Specifically, the navigation surgical system provided in this embodiment of the invention includes a robotic device and a navigation device that are communicatively connected. The robotic device includes a support arm assembly, which includes a base and a support arm connected to the base. The base is used to mount the surgical object on a support platform, and the end of the support arm is used to connect to a support member. The support platform is used to mount the surgical object, and the support member is used to connect to a target part of the surgical object, so that the support arm and the support member cooperate to support the target part, which is related to a target joint of the surgical object. The navigation device includes, but is not limited to, any one of optical navigation devices, magnetic navigation devices, and inertial navigation devices. The navigation device includes a positioning unit and a tracking device. The positioning unit is mounted on the support platform or the base, and the tracking device is used to identify the positioning unit. The target joint of the surgical object has a third coordinate system, and the positioning unit has a fourth coordinate system. The core idea of ​​this invention lies in obtaining the transformation matrix between the third and fourth coordinate systems based on the relative positional relationship between the positioning part and the base, the pose of the support arm, and the relative positional relationship between the support member and the target joint. Furthermore, based on the transformation matrix between the third and fourth coordinate systems and the transformation matrix between the third coordinate system and the planned coordinate system established during preoperative planning, the transformation matrix between the fourth coordinate system and the planned coordinate system is determined. This allows the positioning part to be located away from the surgical area. On the one hand, even if the navigation device is optical, navigation failure caused by the positioning part being obstructed due to changes in the positioning position of medical personnel during surgery can be avoided. On the other hand, since the positioning part is not located on the surgical object, operations performed by medical personnel on the surgical object during surgery, such as moving the target area or performing osteotomy, will not cause displacement or loosening of the positioning part, thus not adversely affecting the effectiveness of navigation.

[0063] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts. Furthermore, the following description uses an optical navigation device as an example, but this should not be considered limiting.

[0064] <Example 1>

[0065] Figure 1 This is a schematic diagram illustrating an application scenario of the navigation surgical system provided in this embodiment. For example... Figure 1As shown, the navigation surgical system provided in this embodiment includes a robotic device and a navigation device connected in communication. The robotic device includes a support arm assembly 1000, which includes a base 1100 and a support arm 1200 connected to the base 1100. The end of the support arm 1200 is used to connect to a support member 3000. The base 1100 is used for mechanical connection with a support platform 4100. Optional connection methods include, but are not limited to, screw connection, snap-fit ​​connection, etc. During the operation, there is usually no relative movement between the base 1100 and the support platform 4100. The support platform 4100 is, for example, an operating table, used to support the surgical object 10, which is, for example, a person or a human model. The support member 3000 is used to connect to the target part 11 of the surgical object 10 so that the support arm 1200 provides support to the target part 11. The target part 11 is related to the target joint 12 of the surgical object 10. For example, when the target joint 12 is the knee joint, the target part 11 can be the lower leg. The navigation device 2000 includes a positioning unit 2100 and a tracking device 2200. The positioning unit 2100 is mounted on a base 1100 and remains relatively stationary with respect to the base 1100. The tracking device 2200 is capable of recognizing the positioning unit 2100. When the navigation device 2000 is an optical navigation device, the positioning unit 2100 includes multiple reflective spheres, and the tracking device 2200 includes an NDI (Near-Diffuse Illumination Device).

[0066] Furthermore, the navigation surgical system preferably includes a stage assembly and / or support member 3000, the stage assembly including a stage 4100. Further, the navigation surgical system also includes at least one tool arm (not shown) for loading surgical instruments for performing surgical procedures. The surgical instruments can be any surgical instruments suitable for use with the tool arm, such as clamps, flanging tools, reaming tools, impactor devices, osteotomy tools, humeral head impactors, etc.

[0067] When using a navigation surgical system, such as Figure 1 As shown, firstly, the support arm assembly 1000, navigation device 2000, and positioning unit 2100 are positioned according to the preoperative planning scheme, and then the support member 3000 is connected to the end of the support arm 1200. Typically, the support arm assembly 1000 also includes a first joint 1300 (e.g., Figure 3 and Figure 4 As shown, the first joint 1300 is disposed at the end of the support arm 1200, and the support member 3000 is connected to the first joint 1300 to realize the connection between the support member 3000 and the end of the robotic arm 1200.

[0068] Figures 2 to 10 A detailed structural diagram of the support arm assembly 1000 and the support member 3000, as well as a schematic diagram of their assembly relationship, are shown. Figure 2As shown, the support arm 1200 includes multiple sequentially connected links 1210, with the connection point of two adjacent links 1210 forming a support arm joint 1220. Each support arm joint 1220 is equipped with a joint module (not shown in the figure). The joint module 1230 includes a damper bracket 1231, a damper 1232, a brake (not shown in the figure), and a brake control button 1235 (e.g., ...). Figure 3 (As shown). The damper bracket 1231 is disposed inside and connected to the connecting rod 1210. The damper 1232 is fixedly connected to the damper bracket 1231. The brake includes a rotor 1233 and a stator 1234, which are arranged according to existing technology and connected to the connecting rod 1210. A brake control button 1235 is disposed on the connecting rod 1210, allowing medical personnel to press the button 1235 to control the brake to operate or stop. When the brake is engaged, the rotor 1233 and stator 1234 are locked together, remaining relatively stationary. This prevents the support arm joint 1220 from rotating; that is, the support arm 1200 is locked by the brake, thus fixing the position of the support arm 1200. When the brake stops working, the rotor 1233 can rotate relative to the stator 1234 under the action of an external force, which releases the brake from locking the support arm 1220, allowing the robotic arm joint 1220 to rotate. Therefore, when the brake stops working, medical personnel can apply an external force to the support arm 1200 to manually control the rotation of at least one support arm joint 1220, changing the pose of the support arm 1200. The damper 1232 is used to maintain the support arm 1200 in its current pose by means of damping force after the external force is removed. It should be understood that each support arm joint 1220 is also equipped with an angle monitoring unit (not shown in the figure), which is configured to monitor the rotation angle of the corresponding support arm joint 1220.

[0069] like Figure 7 As shown, the support member 3000 includes a support portion 3100 and a second connecting portion 3200. The support portion 3100 includes a first support plate 3110 and a second support plate 3120 connected at an angle, with the first support plate 3110 and the second support plate 3120 smoothly connected. Both the first support plate 3110 and the second support plate 3120 are provided with through holes 3101. The second connecting portion 3200 can be a columnar structure and is provided on the support portion 3100, and the second connecting portion 3200 is used to connect with the first connecting portion 1300. In use, the support portion 3100 supports the target part 11 of the surgical object 10, and then a bandage or tie is passed through the through hole 3101 and knotted to bind the target part 11 to the support portion 3100, thereby connecting the target part 11 to the support member 3000.

[0070] Further, please refer to Figures 3 to 6 The first joint 1300 includes a hinge seat 1310, a pressure cap 1320, and a locking member 1330. Optionally, both the hinge seat 1310 and the pressure cap 1320 are semi-circular structures. The hinge seat 1310 is disposed at the end of the support arm 1200, and the concave side of the pressure cap 1320 is arranged opposite to the concave side of the hinge seat 1310. The pressure cap 1320 has opposing free edges 1321 and engaging edges 1322, the engaging edges 1322 being hinged to the hinge seat 1310, thereby forming a clamping space between the pressure cap 1320 and the hinge seat 1310 for clamping the second joint 3200. The locking member 1330 is used to selectively lock the pressure cap 1320 and the hinge seat 1310, or to release the locking between the pressure cap 1320 and the hinge seat 1310. When the locking member 1330 locks the pressure cap 1320 and the hinge seat 1310, it prevents the pressure cap 1320 from rotating relative to the hinge seat 1310, and makes the clamping space match the second joint 3200, thus clamping the second joint 3200. When the locking member 1330 releases the lock between the pressure cap 1320 and the hinge seat 1310, it allows the pressure cap 1320 to rotate relative to the hinge seat 1310, increasing the clamping space and allowing the second joint 3200 to rotate to adjust the posture of the support member 3000 (e.g., ...). Figures 8 to 10 (As shown).

[0071] More specifically, the cross-section of the pressure cap 1320 (i.e., the cross-section parallel to the axis of the circle containing the pressure cap 1320) is non-circular, for example, rectangular. The pressure cap 1320 has an interconnected receiving hole 1323 and a clearance hole 1324, with the clearance hole 1324 located on the side of the receiving hole 1323 near the mating edge 1322. The locking member 1330 includes a first shaft 1331, a second shaft 1332, a pressure plate 1333, and a cam 1334. One end of the first shaft 1331 is connected to the hinge seat 1310, and the other end passes through the clearance hole 1324 and extends into the receiving hole 1323. The second shaft 1332 is located within the receiving hole 1323, and the middle portion of the second shaft 1332 is interconnected with the first shaft 1331, forming a T-shaped structure between the second shaft 1332 and the first shaft 1331. A pressure plate 1333 is disposed within a receiving hole 1323 and sleeved on a first shaft 1331. A cam 1334 is connected to a second shaft 1332 and is partially disposed within the receiving hole 1323. The cam 1334 has a first edge surface 1334a and a second edge surface 1334b that are interconnected. The distance from the first edge surface 1334a to the axis of the second shaft 1332 is greater than the distance from the second edge surface 1334b to the axis of the second shaft 1332. Specifically, the sum of the distance from the first edge surface 1334a to the axis of the second shaft 1332 and the thickness of the pressure plate 1333 is equal to the distance from the wall of the receiving hole 1321 near the mating edge 1322 to the axis of the second shaft 1332. The sum of the distance from the second edge surface 1334b to the axis of the second shaft 1332 and the thickness of the pressure plate 1333 is less than the distance from the wall of the receiving hole 1321 near the mating edge 1322 to the axis of the second shaft 1332. In other words, when the first edge surface 1334a faces the pressure plate 1333, the cam 1334 presses against the pressure plate 1333, thereby causing the pressure plate 1333 to press against the mating edge 1322 of the cover 1320, so that the cover 1320 cannot rotate relative to the hinge seat 1310. When the cam 1334 rotates to the point where the second edge surface 1334b faces the pressure plate 1333, the cam 1334 no longer presses against the pressure plate 1333, and the pressure plate 1333 no longer presses against the cover 1320, allowing the cover 1320 to rotate relative to the hinge seat 1310. Furthermore, the locking element 1330 also includes a handle 1335, which is connected to the cam 1334 to receive external force applied by medical personnel to drive the cam 1334 to rotate.

[0072] Therefore, with the support member 3000 connected to the first joint 1300, and the locking member 1330 locking the pressure cap 1320 and the hinge seat 1310, it can be ensured that the support member 3000 is stably connected to the end of the support arm 1200. After the support member 3000 is connected to the target area 11 of the surgical subject 10, the movement of the support arm 1200 is controlled so that the support arm 1200 is in a suitable position, and the brake is controlled to work to lock the support arm 1200, so that the support arm 1200 and the support member 3000 can be used to support the target area. This is done for two reasons. First, the support arm 1200 can be locked by the brake and kept stationary, which can improve the support stability of the target part 11 and improve the support effect. Second, the brake can be released from the support arm 1200 during the operation and the movement of the support arm 1200 can be controlled. The position of the target part 11 can be adjusted by adjusting the position of the support arm 1200. The adjustment operation is simpler and more convenient. Unlike the existing technology, it does not require disassembling the connection between the target part 11 and the support rod. After adjusting the position of the target part 11 and the support rod respectively, the target part 11 is reconnected to the support rod.

[0073] By registering the navigation surgery system, it can be applied to actual surgeries. Specifically, the registration method includes establishing a third coordinate system F3 on the target joint 12 of the surgical subject 10, establishing a fourth coordinate system F4 on the positioning unit 2100, and obtaining the planned coordinate system F0 established during preoperative planning. Those skilled in the art know how to select a suitable origin and the third coordinate system F3 and the fourth coordinate system F4 according to the actual situation. The planned coordinate system F0 is established based on the CT model of the surgical subject 10 during the preoperative planning stage, and its establishment method is also known to those skilled in the art. Therefore, the principles for establishing each coordinate system will not be elaborated here. In addition, those skilled in the art know that the tracking device 2200 identifies the fourth coordinate system F4 by identifying the positioning unit 2100.

[0074] Subsequently, based on the relative positional relationship between the positioning unit 2100 and the base 1100, the pose of the support arm 1200, and the relative positional relationship between the support member 3000 and the target joint, the transformation matrix between the fourth coordinate system F4 and the third coordinate system F3 is obtained. And, according to the transformation matrix between the fourth coordinate system F4 and the third coordinate system F3 The transformation matrix between the third coordinate system F3 and the planned coordinate system F0 Determine the transformation matrix between the fourth coordinate system F4 and the planned coordinate system F0.

[0075] More specifically, a first coordinate system F1 is established on the base 1100 (e.g., Figure 11As shown, a second coordinate system F2 is established at the end of the support arm 2200, specifically on the first joint 1300, so that the transformation matrix between the fourth coordinate system F4 and the first coordinate system F1 can be used. Transformation matrix between the first coordinate system F1 and the second coordinate system F2 And the transformation matrix between the second coordinate system F2 and the third coordinate system F3 Obtain the transformation matrix between the fourth coordinate system F4 and the third coordinate system F3. In other words, in this embodiment of the invention, the transformation matrix between the fourth coordinate system F4 and the first coordinate system F1 is used... Transformation matrix between the first coordinate system F1 and the second coordinate system F2 Transformation matrix between the second coordinate system F2 and the third coordinate system F3 And the transformation matrix between the third coordinate system F3 and the planned coordinate system F0 Determine the transformation matrix between the fourth coordinate system F4 and the planned coordinate system F0. Therefore, we obtain the equation: Therefore, the transformation matrix between the fourth coordinate system F4 and the planned coordinate system F0 can be used as a basis. The preoperative planning scheme is mapped to the fourth coordinate system F4, and the movement of the tool arm (not shown in the figure) loaded with surgical instruments can be controlled to perform the surgical operation according to the planning scheme.

[0076] The transformation matrix between the fourth coordinate system F4 and the first coordinate system F1 is shown below. This relates to the relative positional relationship between the positioning part 2100 and the base 1100. In this embodiment, the positioning part 2100 is directly connected to the base 1100 and remains relatively stationary. Therefore, the relative positional relationship between the two is fixed, and thus the transformation matrix between the fourth coordinate system F4 and the first coordinate system F1 can be considered constant. K1 is a constant.

[0077] Transformation matrix between the first coordinate system F1 and the second coordinate system F2 Based on the relative positional relationship between the base 1100 and the first joint 1300, that is, the transformation matrix between the first coordinate system F1 and the second coordinate system F2 This relates to the pose of the support arm 1200. As mentioned earlier, when the brake locks the support arm 1200, the pose of the support arm 1200 is fixed. At this time, the relative positional relationship between the base 1100 and the first joint 1300 is fixed and can be obtained based on the relevant parameters of each link 1210 and the rotation angle θ of each support arm joint 1220. Therefore... Among them, the relevant parameters of the connecting rod 1210 include the length of the connecting rod 1210, which is known, and the rotation angle θ of the support arm joint 1220 is obtained by the angle monitoring device installed at each support arm joint 1220. The angle monitoring device is, for example, an encoder.

[0078] Transformation matrix between the second coordinate system F2 and the third coordinate system F3 This relates to the relative positional relationship between the first joint 1300 and the target joint 12. When the second joint 3200 is connected to the first joint 1300, and the locking member 1330 pressure cap 1320 is connected to the hinge seat 1310, and the target part 11 of the surgical object 10 is connected to the support member 3000, the relative positional relationship between the first joint 1300 and the target joint 12 is fixed. Therefore, the transformation matrix between the third coordinate system F3 and the second coordinate system F2 is also a constant, that is... K2 is a constant.

[0079] thus, Among them, K1·K2, and the transformation matrix between the third coordinate system F3 and the planned coordinate system F0. All of these can be obtained by performing bone registration. Bone registration yields K1·K2, as well as the transformation matrix between the third coordinate system F3 and the planned coordinate system F0. The specific process is something that those skilled in the art can know, and will not be elaborated here.

[0080] Based on this, the navigation surgical system may also include a target pen (not shown in the figure) for marking multiple feature points on the surgical subject 10. Following existing bone registration schemes, medical personnel use the target pen to sequentially mark multiple feature points on the exposed bone at the incision site in the surgical area of ​​the surgical subject 10. Then, the tracking device 2200 identifies the marked points to obtain the pose of the feature points in space. Combined with the planned pose of the feature points in the planning scheme, bone registration is completed, thereby obtaining K1·K2 and the transformation matrix between the third coordinate system F3 and the planned coordinate system F0.

[0081] Furthermore, those skilled in the art will understand that bone registration needs to be performed with an open incision in the surgical area. To avoid infection due to incision exposure, such as... Figure 12As shown, the support arm 1200 is also provided with a connecting buckle 1240, which is located on the side of the first joint 1300 near the base 1100. The navigation surgical system also includes a sterile barrier 5000, which is used to fit over the portion of the support arm 1200 located away from the first joint 1300 via the connecting buckle 1240 and the base 1100, and the sterile barrier 5000 is connected to the connecting buckle 1240. That is, the portion of the support arm 1200 located near the first joint 1300 via the connecting buckle 1240, the area containing the first joint 1300 and the support member 3000 is a sterile area and needs to be sterilized before surgery. The portion of the support arm 1200 located away from the first joint 1300 via the connecting buckle 1240 and the base 1100 are sterile protected by the sterile barrier.

[0082] Based on the above introduction, the procedure for performing surgery using a navigation surgical system is as follows: Figure 13 As shown, the steps may include the following:

[0083] Step S1: Obtain the preoperative planning scheme.

[0084] Step S2: Connect the support member 3000, the support arm 1200 and the sterile barrier 5000, and connect the support member 3000 to the target site of the surgical subject.

[0085] Step S3: Adjust the position and orientation of the support arm 1200 to obtain the rotation angles of each support arm joint 1220 of the support arm 1200.

[0086] Step S4: Connect the base 1100 to the support platform 4100.

[0087] Step S5: Install the positioning part 2100 onto the base 1100.

[0088] Step S6: Make a surgical incision in the surgical area of ​​the surgical subject 10 and expose the incision.

[0089] Step S7: Obtain the planned coordinate system F0, the first coordinate system F1, the second coordinate system F2, the third coordinate system F3, and the fourth coordinate system F4.

[0090] Step S8: Obtain the transformation matrix between the second coordinate system F2 and the third coordinate system F3.

[0091] Step S9: Perform bone registration and obtain K1·K2 and the transformation matrix between the third coordinate system F3 and the planned coordinate system F0 based on the bone registration.

[0092] Step S10: According to The transformation matrix between the fourth coordinate system F4 and the planned coordinate system F0 is obtained through calculation.

[0093] Step S11: Control the tool arm to move according to the preoperative planning scheme and perform the corresponding surgical operation based on the transformation matrix between the fourth coordinate system F4 and the planned coordinate system F0.

[0094] It should be noted that, Figure 13 The step numbers shown are only used to indicate different operations, not the execution order of the steps. Furthermore, step S7 can be divided into multiple sub-steps to obtain the coordinate systems step by step, rather than obtaining all coordinate systems at once.

[0095] <Example 2>

[0096] Figure 14 This is a schematic diagram showing the connection relationship between the support arm assembly and the support member of the navigation surgical system provided in this embodiment. Figure 15 This is a schematic diagram illustrating an application scenario of the navigation surgical system provided in this embodiment. The navigation surgical system provided in this embodiment has a basically the same structure and registration method as the navigation surgical system in Embodiment 1. The following only describes the differences between the two.

[0097] In this embodiment, at least a portion of the support platform 4100 is a connection area (not shown in the figure), and the connection area is made of magnetic material. The base 1100 of the support arm assembly 1000 includes a magnetic base 1110, which includes a hollow shell 1111 and an electromagnetic component (not shown in the figure) disposed inside the shell 1111. When the electromagnetic component operates and generates magnetic force, the base 1100 and the connection area of ​​the support platform 1100 can remain relatively stationary due to mutual attraction through magnetic force. When the electromagnetic component stops operating and stops generating magnetic force, the magnetic base 1110 can move relative to the support platform 4100.

[0098] like Figure 16 and Figure 17 As shown, the magnetic base 1110 includes a knob 1112 disposed on the housing 1111 and connected to the electromagnetic component, and used to control the electromagnetic component to selectively work or stop working.

[0099] In this embodiment, the navigation surgical system can control the electromagnetic components to stop working during surgery as needed, thereby adjusting the position of the base 1100 on the support platform 4100 and achieving position adjustment of the entire support arm assembly 1000. It can be understood that since the positioning part 2100 remains directly connected to the base 1100 and remains relatively stationary, the relative positional relationship between the positioning part 2100 and the base 1100 is fixed and known. Therefore, changes in the position of the base 1100 on the support platform 4100 have no effect on the transformation matrix between the fourth coordinate system F4 and the first coordinate system F1.

[0100] <Example 3>

[0101] Figure 18 This diagram illustrates an application scenario of the navigation surgical system provided in this embodiment. Figure 19 The various coordinate systems are shown. The differences between this embodiment and Embodiment 1 are described below.

[0102] refer to Figure 18 and Figure 19 In this embodiment, the positioning part 2100 is disposed on the support platform 4100 and remains relatively stationary with respect to the support platform 4100. Therefore, the relative positional relationship between the positioning part 2100 and the support platform 4100 is fixed and known. Thus, the step of obtaining the transformation matrix between the fourth coordinate system F4 and the first coordinate system F1 includes: first, determining the relative positional relationship between the positioning part 2100 and the base 1100 based on the relative positional relationship between the positioning part 2100 and the support platform 4100, and the relative positional relationship between the base 1100 and the support platform 4100. Then, obtaining the transformation matrix between the fourth coordinate system F4 and the first coordinate system F1 based on the relative positional relationship between the positioning part 2100 and the base 1100.

[0103] Furthermore, the support platform assembly also includes a first guide mechanism 4200, a second guide mechanism 4300, a first drive unit (not shown in the figure), and a second drive unit (not shown in the figure). The first guide mechanism 4200 is disposed on the support platform 4100 and extends along a first direction. The second guide mechanism 4300 is disposed on the first guide mechanism 4200 and extends along a second direction. The second direction is parallel to the first direction, preferably one of the first direction and the second direction is the length direction of the support platform 4100 and the other is the width direction of the support platform 4100. The base 1100 is disposed on the second guide mechanism 4300. The first drive unit is connected to the second guide mechanism 4300 and is configured to drive the second guide mechanism 4300 to move along the first direction, and the second drive unit is connected to the base 1100 and is configured to drive the base 1100 to move along the second direction. In practical applications, the first drive unit may include, for example, a motor, and the second drive unit may include, for example, a motor.

[0104] Preferably, the support platform 4100 is provided with a zero position, for example, at one end of the first guide mechanism 4200. Then, by monitoring the rotation angle of the output shaft of the motor of the first drive unit, the distance that the second guide mechanism 4300 has moved relative to the zero position in the first direction can be obtained. By monitoring the rotation angle of the output shaft of the motor of the second drive unit, the distance that the base 1100 has moved relative to the zero position in the second direction can be obtained. Thus, the relative positional relationship between the base 1100 and the support platform 4100 can be obtained, and the relative positional relationship between the adjusted base 1100 and the positioning part 2100 on the support platform 4100 can be obtained.

[0105] It should be noted that the registration method described in this article is a method executed according to preset control logic. Its essence is autonomous category selection for the surgery, not identification of the surgical object 10. Understandably, since identification of the surgical object 10 is not required, these operations can still be performed even if the surgical object 10 is a human tissue model, organ model, bone model, or other object. Therefore, the surgery described here does not specifically refer to surgical procedures performed on a patient, but merely a set of operational steps executed according to preset control logic. This can be used in applications such as simulation training (where the surgical object 10 is various models such as human models or other objects).

[0106] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a program, which, when executed, performs the aforementioned registration method for a navigation surgical system.

[0107] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A navigation surgical system, characterized in that, This includes robotic devices and navigation devices with communication connections; The robot device includes a support arm assembly, which includes a base and a support arm connected to the base. The base is used to be mounted on a support platform, and the end of the support arm is used to connect to a support member. The support arm includes a plurality of sequentially connected links, and the connection between two adjacent links forms a support arm joint. When the support arm is locked, the position of the support arm is fixed; When the support arm is unlocked, the support arm joint can rotate under the action of external force to change the position of the support arm; The support platform is used to support the surgical object, and the support member is used to connect with the target part of the surgical object, the target part being related to the target joint of the surgical object; The surgical object has a third coordinate system established on the target joint; The navigation device includes a positioning unit and a tracking device. The positioning unit is disposed on the support platform or the base, and the navigation device has a fourth coordinate system established on the positioning unit. The tracking device is used to identify the positioning unit in order to identify the fourth coordinate system; The navigation surgical system is configured to obtain the transformation matrix between the third coordinate system and the fourth coordinate system based on the relative positional relationship between the positioning unit and the base, the relevant parameters of each of the connecting rods, the rotation angle of each of the supporting arm joints, and the relative positional relationship between the supporting member and the target joint; and to determine the transformation matrix between the fourth coordinate system and the planned coordinate system based on the transformation matrix between the third coordinate system and the fourth coordinate system and the transformation matrix between the third coordinate system and the planned coordinate system established according to the preoperative planning.

2. The navigation surgical system according to claim 1, characterized in that, The positioning unit is disposed on the support platform and remains relatively stationary with respect to the support platform; the navigation surgical system is configured to determine the relative positional relationship between the positioning unit and the base based on the relative positional relationship between the positioning unit and the support platform, and the relative positional relationship between the base and the support platform.

3. The navigation surgical system according to claim 2, characterized in that, The navigation surgical system includes the platform assembly, which comprises the platform, a first guide mechanism, a second guide mechanism, a first drive unit, and a second drive unit. The first guide mechanism is disposed on the platform and extends along a first direction. The second guide mechanism is disposed on the first guide mechanism and extends along a second direction. The second direction is perpendicular to the first direction, and one of the first direction and the second direction is the length direction of the platform, while the other is the width direction of the platform. The base is disposed on the second guide mechanism. The first drive unit is configured to drive the second guide mechanism to move along the first guide mechanism, and the second drive unit is configured to drive the base to move along the second guide mechanism. The navigation surgical system is configured to obtain the relative positional relationship between the base and the support platform based on the distance the second guide mechanism moves in the first direction and the distance the base moves in the second direction.

4. The navigation surgical system according to claim 1, characterized in that, The base is used to be fixedly connected to the support platform; the positioning part is connected to the base and remains relatively stationary with respect to the base.

5. The navigation surgical system according to claim 1, characterized in that, The navigation system also includes a target pen for marking multiple feature points on the surgical object, the feature points being recognizable by the tracking device; the navigation surgical system is configured to obtain a transformation matrix between the third coordinate system and the planned coordinate system based on the multiple feature points.

6. The navigation surgical system according to claim 1, characterized in that, The support arm assembly further includes a first joint portion disposed at the end of the support arm; the navigation surgical system further includes the support member, which includes a support portion and a second joint portion; the support portion includes a first support plate and a second support plate arranged at an angle, the first support plate and the second support plate being smoothly connected, and both the first support plate and the second support plate are provided with through holes; the second joint portion is disposed on the support portion and is used to connect with the first joint portion.

7. The navigation surgical system according to claim 6, characterized in that, The first joint includes a hinge seat, a pressure cap, and a locking member. The pressure cap has opposing free edges and a mating edge, the mating edge being hinged to the hinge seat, and a clamping space is formed between the pressure cap and the hinge seat to clamp the second joint. The locking member is used to selectively lock the pressure cap and the hinge seat or release the lock between the pressure cap and the hinge seat. When the locking member locks the pressure cap and the hinge seat, it prevents the pressure cap from rotating relative to the hinge seat, so that the clamping space matches the second joint. When the locking member releases the lock between the pressure cap and the hinge seat, it allows the pressure cap to rotate relative to the hinge seat, so that the clamping space increases.

8. The navigation surgical system according to claim 1, characterized in that, The robotic device also includes a working arm, the end of which is used to connect surgical instruments; the navigation surgical system is configured to control the movement of the working arm based on a transformation matrix between the fourth coordinate system and the planned coordinate system.

9. A registration method, based on the navigation surgical system of claim 1, characterized in that, The registration method includes the following steps: After the target part of the surgical object is supported by the support arm and the support member connected to the end of the support arm, a third coordinate system is established on the target joint of the surgical object. Establish the fourth coordinate system on the positioning part; Obtain the planning coordinate system based on the preoperative planning; and, Based on the relative positional relationship between the positioning part and the base, the relevant parameters of each link, the rotation angle of each support arm joint, and the relative positional relationship between the support member and the target joint, the transformation matrix between the third coordinate system and the fourth coordinate system is obtained. Furthermore, based on the transformation matrix between the third coordinate system and the fourth coordinate system and the transformation matrix between the planned coordinate system and the third coordinate system, the transformation matrix between the planned coordinate system and the fourth coordinate system is determined.

10. The registration method according to claim 9, characterized in that, The positioning part is disposed on the support platform and remains relatively stationary with respect to the support platform; The step of obtaining the relative positional relationship between the positioning part and the base includes: The relative positional relationship between the positioning part and the support platform is obtained, as well as the relative positional relationship between the base and the support platform is obtained; The relative positional relationship between the positioning part and the base is obtained based on the relative positional relationship between the positioning part and the support platform, and the relative positional relationship between the base and the support platform.

11. The registration method according to claim 10, characterized in that, The base is configured to be movable along the length and / or width of the support platform; The steps for obtaining the relative positional relationship between the base and the support platform include: Obtain the distance the base moves along the length direction of the support platform and / or obtain the distance the base moves along the width direction of the support platform; The relative positional relationship between the base and the support platform is obtained based on the distance the base moves along the length direction of the support platform and / or the distance the base moves along the width direction of the support platform.

12. The registration method according to claim 9, characterized in that, The step of obtaining the transformation matrix between the planning coordinate system and the third coordinate system includes: The transformation matrix between the planned coordinate system and the third coordinate system is obtained from the bone registration.

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