A positioning navigation system and method for neurosurgical puncture operation

Abstract

The application discloses a positioning navigation system and method for neurosurgery puncture operation, and the system comprises a nuclear magnetic resonance scanning unit, an optical positioning unit, a puncture unit and a navigation system terminal; the puncture unit comprises a mechanical arm and a puncture needle; the optical positioning unit comprises an optical positioner and a positioning navigation support, the positioning navigation support is fixed on the head of a patient and the tail end of the mechanical arm, and a plurality of optical marker balls are fixed on the positioning navigation support; the optical positioner is used for collecting optical image information of the optical marker balls; the nuclear magnetic resonance scanning unit comprises a nuclear magnetic resonance scanner, a Z frame and a plurality of titanium nails, the plurality of titanium nails are fixed on the head of the patient, and the Z frame is located at the tail end of the mechanical arm; the nuclear magnetic resonance scanner is used for collecting scanning image information of the brain of the patient, the titanium nails, the Z frame and the puncture needle; and the navigation system terminal is connected with the nuclear magnetic resonance scanning unit, the optical positioning unit and the puncture unit. The application can realize brain tissue deviation compensation in operation and guarantee the safety of a puncture path.

Description

Technical Field

[0001] This invention relates to the field of surgical positioning and navigation technology, specifically to a positioning and navigation system and method for neurosurgical puncture surgery. Background Technology

[0002] Parkinson's disease, brain tumors, and stroke have become among the most serious diseases affecting national health. Neurosurgical biopsy is the primary method for treating these neurological diseases. The main procedure involves inserting a needle into the patient's skull to remove the lesion. However, due to the complex distribution of intracranial nerve functions and blood vessels, improper selection of the puncture path or deviation in target localization can lead to serious sequelae or even endanger the patient's life. Therefore, there is an urgent need for a surgical navigation system to guide the entire intracranial puncture process, ensuring that the needle safely and accurately reaches the patient's target lesion.

[0003] Most existing surgical navigation systems use optical or electromagnetic navigation technologies to track the position coordinates of surgical instruments in the surgical space in real time during surgery. These coordinates are then displayed on a screen as a virtual 3D image model, allowing surgeons to observe the relative spatial position of the instruments within the patient's skull and ensuring the smooth progress of the puncture procedure. To convert the instrument coordinates onto the 3D image model of the surgical area, multiple titanium screws are inserted into the skull for coordinate system registration, thus establishing the spatial transformation relationship between the surgical space and the 3D image. However, existing surgical navigation systems do not consider the possibility of intraoperative brain tissue drift, relying solely on the pre-reconstructed 3D model and pre-planned puncture path for navigation. This often leads to inaccurate lesion target localization and unsafe puncture paths. Furthermore, these systems perform "blind punctures," failing to monitor the actual intracranial condition in real time and unable to respond promptly and effectively to any unexpected events that may occur during the procedure. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: in view of the technical problems existing in the prior art, the present invention provides a positioning and navigation system and method for neurosurgical puncture surgery that realizes brain tissue displacement compensation and ensures the safety of puncture path during surgery.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0006] A positioning and navigation system for neurosurgical puncture surgery includes an MRI scanning unit, an optical positioning unit, a puncture unit, and a navigation system terminal;

[0007] The puncture unit includes a robotic arm and a puncture needle, with the puncture needle located at the movable end of the robotic arm;

[0008] The optical positioning unit includes an optical locator and two positioning and navigation brackets. The two positioning and navigation brackets are rigidly fixed to the patient's head and the end of the robotic arm. Multiple optical marker balls are fixed on the positioning and navigation brackets. The optical locator is used to collect optical image information of the optical marker balls to optically track the position of the patient's head and the end of the robotic arm.

[0009] The MRI scanning unit includes an MRI scanner, a Z-frame, and multiple titanium screws. The titanium screws are fixed to the patient's skull, and the Z-frame is located at the end of the robotic arm. The MRI scanner is used to acquire scan images of the patient's brain, titanium screws, Z-frame, and puncture needle.

[0010] The navigation system terminal is connected to the MRI scanning unit, optical positioning unit, and puncture unit respectively. It is used to perform three-dimensional reconstruction and segmentation of the patient's brain based on the three-dimensional scanning image information of the patient's brain and the titanium nails on the skull surface before surgery, so as to obtain a three-dimensional model of the brain. Furthermore, based on the scanning image information of the titanium nails on the skull surface and the optical image information, it determines the spatial transformation relationship between the coordinate system of the scanning image acquired before surgery and the optical navigation coordinate system, and completes the initial pose calibration of the robotic arm.

[0011] Furthermore, during the surgery, based on the Z-frame scan image information, the two-dimensional slice scanning plane of the MRI scanner is adjusted to spatially register the three-dimensional model of the brain with the two-dimensional slice scanning plane during the surgery; based on the registered two-dimensional image information including the puncture needle and the patient's brain, the relative spatial position relationship between the lesion target point and the puncture needle is determined, and the safety of the puncture needle puncture path is assessed and replanned.

[0012] As a further improvement to the above technical solution:

[0013] The optical positioning device includes a near-infrared light source and two near-infrared cameras. The near-infrared light source is used to emit near-infrared light to illuminate the object to be measured. The infrared light is reflected from the optical marker ball back to the near-infrared cameras on the optical positioning unit. The three-dimensional coordinates of the optical marker ball are obtained by triangulation based on the intersection of the light rays.

[0014] Four optical marker balls are fixed on the positioning and navigation bracket, and each optical marker ball has an infrared light reflective coating on its surface.

[0015] The Z-frame includes a U-shaped main structure, with cylindrical tunnels inside the main structure that connect at the corners, and the tunnels on each side are distributed in a Z-shape.

[0016] The main structure of the Z-frame is made of acrylic plastic, and the interior of the tunnel is filled with resin visible under an MRI scanner.

[0017] The puncture needle includes an outer tube and an inner needle. The outer tube is fitted over the inner needle. The outer tube is made of pure tantalum, and the inner needle is made of titanium alloy.

[0018] The navigation system terminal includes an information acquisition module, an image processing module, and a processing and calculation module; the input end of the information acquisition module is connected to the nuclear magnetic resonance scanning unit and the optical positioning unit, and the output end of the information acquisition module is connected to the image processing module and the processing and calculation module.

[0019] The input terminal of the information acquisition module is connected to the nuclear magnetic resonance scanning unit and the optical positioning unit via a USB interface.

[0020] This invention also discloses a positioning and navigation method based on the positioning and navigation system for neurosurgical puncture surgery described above, comprising the following steps:

[0021] Before the operation, the patient's brain was reconstructed and segmented in three dimensions based on the three-dimensional scan images of the titanium nails on the surface of the skull, and a three-dimensional model of the brain was obtained. Based on the image information of the titanium nails on the surface of the skull and the optical image information, the spatial transformation relationship between the image coordinate system acquired before the operation and the optical navigation coordinate system was determined, and the initial pose calibration of the robotic arm was completed.

[0022] During the surgery, based on the Z-frame scan image information, the two-dimensional slice scanning plane of the MRI scanner is adjusted to spatially register the preoperative three-dimensional model of the brain with the intraoperative two-dimensional slice scanning plane. Based on the registered two-dimensional image information that simultaneously includes the puncture needle and the patient's brain, the relative spatial position relationship between the lesion target point and the puncture needle is determined, and the safety of the puncture needle puncture path is assessed and replanned.

[0023] As a further improvement to the above technical solution:

[0024] The preoperative 3D model of the brain was used as the moving image, and the intraoperative 2D slice scan plane was used as the reference image. The Elastix tool was used to spatially register the preoperative 3D model of the brain with the intraoperative 2D slice scan plane.

[0025] Compared with the prior art, the advantages of the present invention are as follows:

[0026] Before the puncture needle enters the brain, this invention uses an optical positioning unit to perform initial calibration of the robotic arm and tracking of the puncture needle. After the puncture needle enters the brain, it uses MRI imaging positioning to register the real-time two-dimensional MRI images during surgery with the preoperative three-dimensional model of the brain, thereby compensating for brain deviation and ensuring the safety of the puncture path during surgery. At the same time, the registered two-dimensional images are used to relocate the lesion target, replan the puncture path, and precisely position the puncture needle tip.

[0027] This invention effectively monitors and compensates for brain tissue drift caused by various factors during surgery, such as changes in intracranial pressure and needle compression, achieving precise intraoperative positioning of the needle and lesion target, thus improving the accuracy and safety of surgical navigation. Because the system employs both optical and MRI imaging positioning, it also effectively solves the occlusion problem that may occur with purely optical navigation systems, thereby significantly improving the accuracy and stability of the puncture procedure and making it more suitable for the specific application scenario of neurosurgical puncture surgery. Attached Figure Description

[0028] Figure 1 This is a flowchart of an embodiment of the positioning and navigation method of the present invention.

[0029] Figure 2 This is a diagram illustrating an embodiment of the positioning and navigation system of the present invention in a specific application.

[0030] Figure 3 This is a schematic diagram of the end effector structure of the robotic arm in an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of the Z-frame in an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the positioning and navigation bracket in an embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of the optical positioning unit in an embodiment of the present invention.

[0034] Figure 7 This is a topology diagram of the positioning and navigation system in an embodiment of the present invention.

[0035] Legend: 1. Magnetic Resonance Imaging (MRI) Scanning Unit; 101. MRI Scanner; 102. Z-Frame; 103. Titanium Nail; 2. Optical Positioning Unit; 201. Optical Positioner; 2011. Near-Infrared Light Source; 2012. Near-Infrared Camera; 202. Positioning and Navigation Support; 2021. Optical Marker Ball; 3. Puncture Unit; 301. Robotic Arm; 302. Puncture Needle; 4. Navigation System Terminal; 401. Information Acquisition Module; 402. Image Processing Module; 403. Processing and Calculation Module; 5. Display. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 2 As shown, the positioning and navigation system for neurosurgical puncture surgery according to an embodiment of the present invention includes an MRI scanning unit 1, an optical positioning unit 2, a puncture unit 3, and a navigation system terminal 4.

[0038] The puncture unit 3 includes a multi-degree-of-freedom robotic arm 301 and a puncture needle 302, with the puncture needle 302 located at the movable end of the multi-degree-of-freedom robotic arm 301; wherein the multi-degree-of-freedom robotic arm 301 is fixed to the patient's bed and is used to automatically perform the puncture operation; wherein the puncture needle 302 is used to perform the puncture operation;

[0039] The optical positioning unit 2 includes an optical locator 201 and two positioning and navigation supports 202. The two positioning and navigation supports 202 are rigidly fixed to the patient's head and the end of the robotic arm 301. Multiple optical marker balls 2021 are fixed on the positioning and navigation supports 202. The optical locator 201 is used to collect optical image information of the optical marker balls 2021 to optically track the position of the patient's head and the end of the robotic arm 301.

[0040] The MRI scanning unit 1 includes an MRI scanner 101, a Z-frame 102, and multiple titanium nails 103. The multiple titanium nails 103 are fixed to the patient's skull, and the Z-frame 102 is located at the end of the robotic arm 301. The MRI scanner 101 is used to acquire scan image information of the patient's brain, titanium nails 103, Z-frame 102, and puncture needle 302.

[0041] The navigation system terminal 4 is connected to the MRI scanning unit 1, the optical positioning unit 2, and the puncture unit 3, respectively. It is used to perform three-dimensional reconstruction and segmentation of the patient's brain based on the three-dimensional scanning image information of the titanium nails 103 on the surface of the skull before surgery, so as to obtain a three-dimensional model of the brain. Furthermore, based on the scanning image information of the titanium nails 103 on the surface of the skull and the optical image information, it determines the spatial transformation relationship between the coordinate system of the scanning image acquired before surgery and the optical navigation coordinate system, and completes the calibration of the robotic arm 301.

[0042] Furthermore, during the surgery, based on the scanning image information of the Z-frame 102, the two-dimensional slice scanning plane of the MRI scanner 101 is adjusted to spatially register the three-dimensional model of the brain with the two-dimensional slice scanning plane during the surgery; based on the registered two-dimensional image information including the puncture needle 302 and the patient's brain, the relative spatial position relationship between the lesion target point and the puncture needle 302 is determined, and the safety of the puncture path of the puncture needle 302 is assessed and replanned.

[0043] Before the puncture needle 302 enters the brain, the present invention uses optical positioning unit 2 to perform initial calibration of robotic arm 301 and tracking of puncture needle 302; after the puncture needle 302 enters the brain, the MRI imaging positioning method of MRI scanning unit 1 is used to register the real-time two-dimensional MRI image during the operation with the three-dimensional model of the brain before the operation, thereby achieving compensation for brain tissue displacement and ensuring the safety of the puncture path during the operation; at the same time, the registered two-dimensional image is used to realize the relocation of lesion target point, replanning of puncture path and fine positioning of puncture needle tip.

[0044] This invention effectively monitors and compensates for brain tissue drift caused by various factors during surgery, such as changes in intracranial pressure and compression by the puncture needle 302, achieving precise intraoperative positioning of the puncture needle 302 and the target lesion, thus improving the accuracy and safety of surgical navigation. Because the system employs both optical and MRI imaging positioning, it also effectively solves the occlusion problem that may occur with purely optical navigation systems, thereby significantly improving the accuracy and stability of the puncture procedure and making it more suitable for the specific application scenario of neurosurgical puncture surgery.

[0045] In one specific embodiment, such as Figure 6 As shown, the optical positioning device 201 includes a near-infrared light source 2011 and two near-infrared cameras 2012. The near-infrared light source 2011 emits near-infrared light to illuminate the object to be measured. The infrared light is reflected from the optical marker sphere 2021 back to the near-infrared cameras 2012 on the optical positioning unit 2. Triangulation is performed based on the intersection of the light rays to obtain the three-dimensional coordinates of the optical marker sphere 2021. Figure 5 As shown, four optical marker balls 2021 are fixed on the positioning and navigation bracket 202. Each optical marker ball 2021 has an infrared reflective coating on its surface to ensure it reflects infrared light. The main structure of the positioning and navigation bracket 202 is made of titanium alloy. Of course, in other embodiments, three, five, or more optical marker balls 2021 can be used; the specific number depends on the actual situation.

[0046] In one specific embodiment, such as Figure 3 As shown, the Z-frame 102 is fixed to the end of the robotic arm 301 and directly connected to the puncture needle 302. Figure 4As shown, the Z-frame 102 includes a U-shaped main structure with cylindrical tunnels inside that connect at the corners. The tunnels on each face are distributed in a Z-shape. The frame, excluding the tunnels, is made of acrylic plastic, while the internal tunnels are filled with polyetheretherketone (PEEK) resin visible under the MRI scanner 101. The Z-frame 102 serves as a reference coordinate system during surgery. By registering the Z-frame 102 coordinate system with the image coordinate system, the coordinate system of the surgical instrument (puncture needle 302) is indirectly registered with the image coordinate system, thereby adjusting the imaging plane of the MRI scanner 101 to position the puncture needle 302 in the scanned image.

[0047] In one specific embodiment, the puncture needle 302 includes an outer tube and an inner needle, with the outer tube covering the inner needle. The outer tube is made of pure tantalum, and the inner needle is made of titanium alloy. The titanium nail 103 can be clearly imaged under both the MRI scanner 101 and the CT scanner, and is used for implantation into the patient's skull, acting as a marker to achieve registration between the optical coordinate system and the three-dimensional image coordinate system. The robotic arm 301 must be made of MRI-compatible materials, such as titanium alloy, to ensure its normal operation under the MRI scanner 101.

[0048] In one specific embodiment, such as Figure 7 As shown, the navigation system terminal 4 includes an information acquisition module 401, an image processing module 402, and a processing and calculation module 403. The input end of the information acquisition module 401 is connected to the nuclear magnetic resonance scanning unit 1 and the optical positioning unit 2 via a USB interface, and the output end of the information acquisition module 401 is connected to the image processing module 402 and the processing and calculation module 403.

[0049] After the information acquisition module 401 acquires the optical positioning information and the scanned image information, it sends the optical positioning information to the processing and calculation module 403 and the scanned image information to the image processing module 402. The image processing module 402 then processes the image information and sends it back to the processing and calculation module 403. Specifically:

[0050] The information acquisition module 401 is used to acquire optical positioning information and preoperative and intraoperative CT and MRI image information. It should be understood that the information acquisition module 401 may be a communication module with multiple communication interfaces, through which it communicates with the MRI scanner 101 and the optical positioning unit 2 to acquire optical positioning information and scanned image information. The image acquisition interface may be a USB interface, etc.

[0051] The image processing module 402 is used to establish a three-dimensional image model based on preoperative CT and MR image information; to process the scanned image information and optical image information of the acquired titanium nail 103; to calculate the imaging plane orientation of the MRI scanner based on the MRI image of the Z-frame 102; to perform spatial registration between the preoperative three-dimensional model and the intraoperative two-dimensional MRI image; and to segment and locate the puncture needle 302 based on the registered two-dimensional MRI image.

[0052] The processing and calculation module 403 is used to perform further calculations based on the calculation results of the image processing module 402, specifically including: completing the initial calibration of the preoperative system; adjusting the imaging plane of the MRI machine to be parallel to the plane where the puncture needle 302 is located, thereby ensuring that the puncture needle 302 can be completely imaged in a single frame of two-dimensional MRI image slice; redetermining the location of the lesion target point; and assessing and replanning the safety of the puncture path.

[0053] Specifically, the preoperative initial system calibration process employs existing image localization technology to determine the model positioning information of the titanium nails 103 in the three-dimensional image model, i.e., their position coordinates in the image space. It also determines the position coordinates of the titanium nails 103 in the surgical space based on optical localization information, i.e., the spatial position coordinates of each titanium nail 103 in the optical localization system coordinate system. The processing and calculation module 403, based on the image space position coordinates and optical space position coordinates of multiple titanium nails 103, uses existing transformation matrix algorithms to calculate the transformation matrix between the optical space coordinate system and the image space coordinate system.

[0054] The information acquisition module 401 is equipped with two USB interfaces. The information acquisition module 401 is connected to the optical positioning unit 2 and the nuclear magnetic resonance scanner 101 through the USB interfaces to acquire scanned image information.

[0055] This invention also discloses a positioning and navigation method based on the positioning and navigation system for neurosurgical puncture surgery described above, comprising the following steps:

[0056] Before the operation, the patient's brain was reconstructed and segmented in three dimensions based on the three-dimensional scan images of the titanium nails 103 on the surface of the skull, and a three-dimensional model of the brain was obtained. Based on the image information and optical image information of the titanium nails 103 on the surface of the skull, the spatial transformation relationship between the image coordinate system acquired before the operation and the optical navigation coordinate system was determined, and the initial calibration of the robotic arm 301 was completed.

[0057] During the surgery, based on the scanning image information of the Z-frame 102, the two-dimensional slice scanning plane of the MRI scanner 101 is adjusted to spatially register the preoperative three-dimensional model of the brain with the two-dimensional slice scanning plane during the surgery. Based on the registered two-dimensional image information that simultaneously includes the puncture needle 302 and the patient's brain, the relative spatial position relationship between the lesion target point and the puncture needle 302 is determined, and the safety of the puncture path of the puncture needle 302 is assessed and replanned.

[0058] One method for calculating the transformation matrix between the optical spatial coordinate system and the image coordinate system is the ICP registration algorithm.

[0059] One method for registering the preoperative 3D model with the intraoperative 2D MRI image is to directly use the preoperative 3D model as the moving image and the intraoperative 2D MRI image as the reference image, and then use the Elastix tool for registration.

[0060] The method for segmenting and locating the 302 tip of the puncture needle based on the registered two-dimensional MRI images can use the Mask-RCNN deep learning network.

[0061] To better understand the above technical solutions, the following will provide a detailed description of the technical solutions in conjunction with the accompanying drawings and specific implementation methods, such as... Figure 1 As shown:

[0062] 1. Preoperative 3D Reconstruction of the Patient's Brain and Surgical Path Planning: Before surgery, the positioning and navigation frame 202 needs to be rigidly connected to the patient's skull, and at least three titanium screws 103 need to be implanted into the skull. A CT scanner and an MRI scanner 101 are used to perform preoperative scans of the patient's skull, and the acquired CT and MR images, including the titanium screws 103 and the patient's brain, are sent to the navigation system terminal 4. Based on the acquired CT and MR images, high-precision 3D segmentation and reconstruction of important brain tissues, nerves, blood vessels, and lesions are performed. The surgical path is planned based on the reconstructed high-precision 3D model of the brain, and the 3D spatial coordinates of each titanium screw 103 in the image coordinate system are determined.

[0063] 2. Preoperative System Initial Calibration: The puncture needle 302 sequentially clicks on all the titanium nails 103 on the skull surface, recording the optical image information of the optical marker ball 2021200 at the end of the robotic arm 301, and determining the three-dimensional coordinates of each titanium nail 103 in the optical navigation coordinate system. Combining the three-dimensional coordinates of the titanium nails 103 in the image space coordinate system, the transformation relationship between the image space coordinate system and the optical navigation system coordinate system is calculated, completing the initial system calibration. According to the preoperatively planned puncture path, the end of the robotic arm 301 is automatically adjusted to move to the pre-drilled location, and an ultrasonic bone scalpel is used to complete the cranial opening. After the opening is completed, the ultrasonic bone scalpel is replaced with the puncture needle 302, and the operating table is moved using a sliding rail, moving the patient's head and the robotic arm 301 into the MRI scanner 101, ready to begin the puncture surgery.

[0064] 3. Intraoperative MRI imaging plane adjustment: Based on the Z-frame 102 image acquired by the MRI scanner 101, the scanning plane of the MRI scanner 101 is adjusted in real time to be parallel to the plane where the puncture needle 302 is located, so as to ensure that the puncture needle 302 can be completely imaged in a single frame of two-dimensional MRI image slice.

[0065] 4. Safety assessment and replanning of the puncture path: The two-dimensional image slices scanned in real time during the operation by the MRI scanner 101 are registered with the high-precision three-dimensional model before the operation, so as to quickly obtain the location coordinate information of important brain tissues, nerves, blood vessels and lesions in the two-dimensional scan images, and to conduct safety assessment and replanning of the puncture path planned before the operation.

[0066] 5. Positioning and navigation of puncture needle 302: The puncture needle 302 is segmented and positioned based on the two-dimensional slice image scanned by the MRI scanner 101, so as to realize the navigation and positioning of the puncture needle 302 during the operation.

[0067] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A positioning and navigation system for neurosurgical puncture procedures, characterized in that, It includes a magnetic resonance scanning unit (1), an optical positioning unit (2), a puncture unit (3), and a navigation system terminal (4); The puncture unit (3) includes a robotic arm (301) and a puncture needle (302), wherein the puncture needle (302) is located at the movable end of the robotic arm (301); The optical positioning unit (2) includes an optical locator (201) and two positioning and navigation brackets (202). The two positioning and navigation brackets (202) are rigidly fixed to the patient's head and the end of the robotic arm (301). Multiple optical marker balls (2021) are fixed on the positioning and navigation brackets (202). The optical locator (201) is used to collect optical image information of the optical marker balls (2021) to optically track the position of the patient's head and the end of the robotic arm (301). The magnetic resonance scanning unit (1) includes a magnetic resonance scanner (101), a Z-frame (102), and multiple titanium nails (103). The multiple titanium nails (103) are fixed to the patient's skull, and the Z-frame (102) is located at the end of the robotic arm (301). The magnetic resonance scanner (101) is used to acquire scan image information of the patient's brain, titanium nails (103), Z-frame (102), and puncture needle (302). The navigation system terminal (4) is connected to the magnetic resonance scanning unit (1), the optical positioning unit (2) and the puncture unit (3) respectively. It is used to perform three-dimensional reconstruction and segmentation of the patient's brain based on the three-dimensional scanning image information of the patient's brain and the titanium nail (103) on the surface of the skull before surgery, so as to obtain a three-dimensional model of the brain; and to determine the spatial transformation relationship between the scanning image coordinate system and the optical navigation coordinate system acquired before surgery based on the scanning image information and optical image information of the titanium nail (103) on the surface of the skull, so as to complete the initial pose calibration of the robotic arm (301). During the operation, based on the scanning image information of the Z-frame (102), the two-dimensional slice scanning plane of the MRI scanner (101) is adjusted, and the three-dimensional model of the cranium is spatially registered with the two-dimensional slice scanning plane during the operation; based on the registered two-dimensional image information including the puncture needle (302) and the patient's cranium, the relative spatial position relationship between the lesion target point and the puncture needle (302) is determined, and the safety of the puncture path of the puncture needle (302) is assessed and replanned. The optical positioning device (201) includes a near-infrared light source (2011) and two near-infrared cameras (2012); the near-infrared light source (2011) is used to emit near-infrared light to illuminate the object to be measured, and the infrared light is reflected from the optical marker ball (2021) back to the near-infrared camera (2012) on the optical positioning unit (2). The three-dimensional coordinates of the optical marker ball (2021) are obtained by triangulation based on the intersection of the light rays.

2. The positioning and navigation system for neurosurgical puncture surgery according to claim 1, characterized in that, Four optical marker balls (2021) are fixed on the positioning and navigation bracket (202), and each optical marker ball (2021) has an infrared light reflective coating on its surface.

3. The positioning and navigation system for neurosurgical puncture surgery according to claim 1 or 2, characterized in that, The Z-frame (102) includes a U-shaped main structure, with cylindrical tunnels inside the main structure that are connected at the corners, and the tunnels on each side are distributed in a Z-shape.

4. The positioning and navigation system for neurosurgical puncture surgery according to claim 3, characterized in that, The main structure of the Z-frame (102) is made of acrylic plastic, and the interior of the tunnel is filled with resin visible under a nuclear magnetic resonance scanner (101).

5. The positioning and navigation system for neurosurgical puncture surgery according to claim 1 or 2, characterized in that, The puncture needle (302) includes an outer tube and an inner needle. The outer tube is fitted over the inner needle. The outer tube is made of pure tantalum material, and the inner needle is made of titanium alloy material.

6. The positioning and navigation system for neurosurgical puncture surgery according to claim 1 or 2, characterized in that, The navigation system terminal (4) includes an information acquisition module (401), an image processing module (402), and a processing and calculation module (403); the input end of the information acquisition module (401) is connected to the nuclear magnetic resonance scanning unit (1) and the optical positioning unit (2), and the output end of the information acquisition module (401) is connected to the image processing module (402) and the processing and calculation module (403).

7. The positioning and navigation system for neurosurgical puncture surgery according to claim 6, characterized in that, The input terminal of the information acquisition module (401) is connected to the nuclear magnetic resonance scanning unit (1) and the optical positioning unit (2) via a USB interface.

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