Spinal surgical robot system

Abstract

The application relates to the technical field of spinal surgery, and particularly discloses a spinal surgery robot system, in which a robot body is provided with a mechanical arm; a surgery execution mechanism is arranged at the tail end of the mechanical arm and is used for executing a surgery operation; a scanning mechanism is used for scanning the spine of a patient; a binocular recognition mechanism is used for establishing a coordinate system containing the patient and the robot body; a display trolley is used for receiving scanning information of the scanning mechanism and can establish a three-dimensional spinal model based on the scanning information and display the three-dimensional spinal model; the display trolley can plan a surgery path based on the coordinate system and the three-dimensional spinal model; and the robot body moves the surgery execution mechanism to a surgery position and adjusts the surgery execution mechanism to a surgery angle based on the surgery path. The above arrangement ensures the accuracy of the surgery position and the surgery angle, reduces the labor intensity of medical staff in traditional surgery, reduces the surgery risk, and improves the surgery success rate and the surgery efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spinal surgery, in particular to a spinal surgery robot system. BACKGROUND

[0002] The incidence of spinal diseases is increasing, affecting people's normal life and health, and traditional treatment options include drug therapy, physical therapy, etc., but the above-mentioned therapies are only suitable for mild patients. For severe patients, open surgery is generally used, which requires general anesthesia for patients, long operation time, and long postoperative recovery time, which poses a great risk to elderly patients.

[0003] Spinal endoscopic surgery can greatly reduce the risk of surgery. The existing spinal endoscopic surgery requires obtaining the shape of the patient's spine before surgery and planning the entry position and angle of the surgical instrument, and the position and angle of the surgical instrument are controlled by the doctor to complete the surgery. The above operation method has great dependence on the experience and proficiency of the doctor, and cannot guarantee the accuracy of the surgical position and the angle of the surgical instrument, and requires multiple adjustments of the angle and position, which has the risk of inconsistency between the final surgical path and the planned path, which is not conducive to the smooth development of the surgery, resulting in low surgical efficiency and poor effect.

[0004] Therefore, it is urgent to research a spinal surgery robot system to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a spinal surgery robot system that ensures consistency between the surgical path and the planned path, improves surgical efficiency and accuracy, and improves surgical success rate and effect.

[0006] The present application provides a spinal surgery method that can improve surgical success rate and efficiency and reduce the labor intensity of medical personnel.

[0007] To achieve the above purpose, the present application adopts the following technical solutions:

[0008] The spinal surgery robot system comprises:

[0009] The robot body has a mechanical arm;

[0010] The surgical execution mechanism is arranged at the end of the mechanical arm and is used for executing surgical operations;

[0011] The scanning mechanism is used for scanning the patient's spine;

[0012] The binocular recognition mechanism is used for establishing a coordinate system containing the patient and the robot body;

[0013] The display carriage is used to receive the scanning information from the scanning mechanism, and can build and display a three-dimensional model of the spine based on the scanning information. The display carriage can plan the surgical path based on the coordinate system and the three-dimensional model of the spine. The robot body moves the surgical execution mechanism to the surgical position and adjusts it to the surgical angle based on the surgical path.

[0014] As an optional technical solution for a spinal surgery robot system, the robotic arm includes:

[0015] The first column is slidably mounted on the movable base of the robot body in a vertical direction;

[0016] The first crossbeam, one end of which is fixed to the top of the first column;

[0017] The second crossbeam has one end rotatably mounted on the other end of the first crossbeam;

[0018] The second column has its upper end rotatably mounted on the other end of the second crossbeam, and the second column extends vertically.

[0019] A swing arm, one end of which is hinged to the lower end of the second column and can swing around a first axis;

[0020] A connector is rotatably disposed at the other end of the swing arm and can swing about a second axis. The connector is used to fix the surgical execution mechanism.

[0021] The axis of the first crossbeam, the axis of the second crossbeam, and the first and second axes are all located in the horizontal direction.

[0022] As an optional technical solution for a spinal surgery robot system, the first crossbeam includes a first base beam and a first extension beam. The first base beam is fixed to the top of the first column, one end of the first extension beam is slidably disposed on the first base beam, and the second crossbeam is rotatably connected to the other end of the first extension beam.

[0023] As an optional technical solution for a spinal surgery robot system, the first base beam is provided with a sliding channel, and the first extension beam is slidably disposed in the sliding channel.

[0024] As an optional technical solution for a spinal surgery robot system, the surgical execution mechanism includes:

[0025] An execution body is provided with a first bracket and a second bracket spaced apart on the execution body. The first bracket is used to fix the surgical cannula, and the second bracket is used to fix the spinal endoscope, which is inserted through the surgical cannula.

[0026] A sliding base is provided on the execution body;

[0027] The mounting bracket is slidably disposed on the sliding base along the axial direction of the surgical cannula. The mounting bracket can move between the working position and the changing position. The mounting bracket is used to fix surgical instruments. When the mounting bracket is in the working position, the surgical instruments are inserted through the spinal endoscope. When the mounting bracket is in the changing position, the surgical instruments are located outside the spinal endoscope.

[0028] As an optional technical solution for a spinal surgery robot system, the execution body includes:

[0029] An execution base, wherein both the first bracket and the second bracket are disposed on the execution base;

[0030] A rotating component is rotatably mounted on the execution base. Several sliding bases are provided, and the several sliding bases are spaced apart around the axis of the rotating component. Several mounting brackets are provided, and the several mounting brackets and several sliding bases are arranged in a one-to-one correspondence.

[0031] As an optional technical solution for a spinal surgery robot system, the surgical execution mechanism further includes a rotating component and a rotating drive component. The rotating component has a fixed channel and is rotatably mounted on the second support around the axis of the fixed channel. The rotating drive component is mounted on the second support and is connected to the rotating component in a transmission manner. The spinal endoscope is fixed within the fixed channel.

[0032] As an optional technical solution for a spinal surgery robot system, the mounting bracket is equipped with a quick-connect interface for connecting the surgical instruments.

[0033] As an alternative technical solution for a spinal surgery robotic system, the following surgical methods are included:

[0034] S100. Obtain the patient's spinal information and establish a three-dimensional model of the spine;

[0035] S200, Establish a coordinate system based on the 3D model of the spine and the robot body;

[0036] S300, surgical path planning based on coordinate system and 3D spinal model;

[0037] S400: The robot body moves the surgical execution mechanism to the surgical position and adjusts it to the surgical angle based on the surgical path;

[0038] S500: The operator completes the surgery according to the position and angle of the surgical execution mechanism.

[0039] As an optional technical solution for a spinal surgery robotic system, the surgical procedure includes the following steps:

[0040] S510, The operator completes the puncture procedure for spinal surgery;

[0041] S520, the robot body moves the surgical execution mechanism to the changing position;

[0042] S530. The operator installs the surgical cannula, spinal endoscope, and surgical instruments into the surgical execution mechanism.

[0043] S540, The robot body moves the surgical execution mechanism to the surgical position and adjusts it to the surgical angle;

[0044] S550, the operator completes the surgery.

[0045] The beneficial effects of this invention are as follows:

[0046] This invention provides a spinal surgery robot system. The system scans the patient's spine using a scanning mechanism, and a binocular recognition mechanism establishes a coordinate system including the patient and the robot itself. A display carriage generates a 3D model of the spine after receiving the scanned information. Based on the coordinate system and the 3D model, the display carriage plans the surgical path. The robot itself moves the surgical execution mechanism to the surgical position and adjusts it to the surgical angle based on the surgical path. After the surgical path planning is completed, the entire process of positioning and adjusting the angle of the surgical execution mechanism requires no manual intervention from the surgeon, ensuring that the final surgical path matches the planned path. This guarantees the accuracy of the surgical position and angle, improves the success rate and efficiency of the surgery, and benefits the patient's recovery.

[0047] After completing the surgical path planning, the system automatically adjusts the positioning and angle of the surgical execution mechanism, ensuring that the final surgical path matches the planned surgical path. This guarantees the accuracy of the surgical position and angle, improves the success rate and efficiency of the surgery, benefits patient recovery, reduces reliance on the doctor's experience and skill, and reduces the workload of medical staff. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the spinal surgery robot system in an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the robot body in an embodiment of the present invention;

[0050] Figure 3 This is a first-view structural schematic diagram of the surgical execution mechanism in an embodiment of the present invention;

[0051] Figure 4This is a schematic diagram of the surgical execution mechanism from a second perspective in an embodiment of the present invention;

[0052] Figure 5 This is a flowchart of a spinal surgery method in an embodiment of the present invention.

[0053] In the picture:

[0054] 1000. Surgical instruments;

[0055] 100. Robot body; 110. Movable base; 120. Robotic arm; 121. First column; 122. First crossbeam; 1221. First base beam; 1222. First extension beam; 123. Second crossbeam; 124. Second column; 125. Positioning arm; 126. Connector;

[0056] 200. Surgical execution mechanism; 210. Execution body; 211. Execution base; 2111. Fixing surface; 212. Rotating component; 213. First support; 214. Second support; 220. Sliding base; 230. Mounting bracket; 231. Quick-connect interface; 240. Surgical cannula; 250. Spinal endoscope;

[0057] 300. Scanning mechanism;

[0058] 400. Binocular recognition mechanism;

[0059] 500. Display trolley; 510. Trolley frame; 520. Trolley body; 530. Keyboard; 531. Bracket; 540. Monitor. Detailed Implementation

[0060] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0064] Example 1

[0065] like Figures 1 to 4 As shown, this embodiment provides a spinal surgery robot system, which includes a robot body 100, a surgical execution mechanism 200, a scanning mechanism 300, a binocular recognition mechanism 400, and a display carriage 500. It is used to scan the patient's spine and plan the surgical path, and can complete the positioning and angle adjustment of the surgical execution mechanism 200 based on the planned surgical path, thereby improving surgical accuracy and efficiency and reducing the labor intensity of medical staff.

[0066] In this embodiment, the robot body 100 has a robotic arm 120; a surgical execution mechanism 200 is located at the end of the robotic arm 120 and is used to perform surgical operations; a scanning mechanism 300 is used to scan the patient's spine; a binocular recognition mechanism 400 is used to establish a coordinate system including the patient and the robot body 100, providing information for navigation. A display carriage 500 is used to receive the scanning information from the scanning mechanism 300, and can establish and display a three-dimensional model of the spine based on the scanning information. The display carriage 500 can plan the surgical path based on the coordinate system and the three-dimensional model of the spine. The robot body 100 moves the surgical execution mechanism 200 to the surgical position and adjusts it to the surgical angle based on the surgical path.

[0067] The above settings enable the entire surgical execution mechanism 200 to adjust its positioning and angles without the need for manual intervention from the doctor after the surgical path planning is completed. This ensures that the final surgical path is consistent with the planned surgical path, guarantees the accuracy of the surgical position and angle, does not rely on the doctor's experience and skill level, reduces the workload of medical staff in traditional surgery, reduces surgical risks, improves the success rate and efficiency of surgery, and is beneficial to the patient's recovery.

[0068] The scanning mechanism 300 can be in the form of a C-arm or an O-arm, etc. The main function of the scanning mechanism 300 is to perform rotational scanning of the spine using X-rays during surgery, providing data for three-dimensional reconstruction.

[0069] The robot body 100 is the main body supporting the entire robot system, integrating functions such as computation, control, 3D reconstruction, and navigation. A multi-degree-of-freedom robotic arm 120 is connected to the robot body 100. The function of the robotic arm 120 is to move the surgical execution mechanism 200 to the planned surgical position and angle. In some embodiments, the movement of the robotic arm 120 is a combination of one or more linear movements. In some embodiments, the movement of the robotic arm 120 is a combination of one or more rotational movements. In some embodiments, the movement of the robotic arm 120 is a combination of one or more linear movements and one or more rotational movements.

[0070] Regarding the structure of the robotic arm 120, in this embodiment, the robotic arm 120 includes a first column 121, a first crossbeam 122, a second crossbeam 123, a second column 124, a swing arm 125, and a connector 126. The first column 121 is slidably mounted vertically on the movable base 110 of the robot body 100; one end of the first crossbeam 122 is fixed to the top of the first column 121; one end of the second crossbeam 123 is rotatably mounted on the other end of the first crossbeam 122; the upper end of the second column 124 is rotatably mounted on the other end of the second crossbeam 123, and the second column 124 extends vertically; one end of the swing arm 125 is hinged to the lower end of the second column 124 and can swing around a first axis; the connecting member 126 is rotatably mounted on the other end of the swing arm 125 and can swing around a second axis, and the connecting member 126 is used to fix the surgical execution mechanism 200; the axes of the first crossbeam 122, the second crossbeam 123, the first axis, and the second axis are all located in the horizontal direction. It should be noted that the position and connection relationship of the driving components of each part are not the focus of this application and will not be described in detail here, as long as they can provide driving force for the above actions. The mobile base 110 is equipped with a power module, which powers the robot body 100 or serves as a backup power source. The mobile base 110 also has a controller, which communicates with both the robotic arm 120 and the mobile base 110. The mobile base 110 has wheels at its bottom. The controller controls the movement of the robotic arm 120 and the mobile base 110 itself. The mobile base 110 is also equipped with a navigation module, which guides the movements of both the mobile base 110 and the robotic arm 120, enabling the surgical execution mechanism 200 to move to the designated position.

[0071] This configuration allows the surgical execution mechanism 200 to be raised and lowered via the first column 121, enabling it to move to a suitable surgical height. The first crossbeam 122, the second crossbeam 123, and the second column 124 allow the horizontal coordinates of the surgical execution mechanism 200 to be arbitrarily changed. The swing arm 125 and the connector 126 allow the angle of the surgical execution mechanism 200 to be arbitrarily adjusted, ensuring that during the surgical procedure, when the angle of the surgical instrument 1000 is adjusted, the contact point between the surgical instrument 1000 and the human skin remains unchanged. In other words, the surgical instrument 1000 can swing around the point where it intersects with the human skin, thus preventing the wound from enlarging.

[0072] In addition, the structural layout of the first column 121, the first crossbeam 122, the second crossbeam 123, and the second column 124 makes the robotic arm 120 have an arched structure when it is working, which gives the surgical execution mechanism 200 a large operating space in the circumference, making it easier for medical staff to complete the surgery.

[0073] The second crossbeam 123 can rotate around the other end of the first crossbeam 122 to adjust the surgical execution mechanism 200 for different surgical procedures.

[0074] Furthermore, the first crossbeam 122 includes a first base beam 1221 and a first extension beam 1222. The first base beam 1221 is fixed to the top of the first column 121, one end of the first extension beam 1222 is slidably disposed on the first base beam 1221, and the second crossbeam 123 is rotatably connected to the other end of the first extension beam 1222. This arrangement increases the distance between the surgical execution mechanism 200 and the movable base 110 of the robot body 100, allowing the movable base 110 to be further away from the patient, thus providing the surgeon with more operating space during operation.

[0075] Specifically, the first base beam 1221 is provided with a sliding channel, and the first extension beam 1222 is slidably disposed in the sliding channel. The above arrangement results in a larger outer diameter of the first base beam 1221 and a smaller outer diameter of the first extension beam 1222, thereby optimizing the stress distribution, improving the smoothness of operation, and extending the service life.

[0076] Regarding the specific structure of the surgical execution mechanism 200, in this embodiment, the surgical execution mechanism 200 includes an execution body 210, a sliding base 220, and a mounting bracket 230. The execution body 210 is provided with a first bracket 213 and a second bracket 214 spaced apart. The first bracket 213 is used to fix the surgical cannula 240, and the second bracket 214 is used to fix the spinal endoscope 250, which passes through the surgical cannula 240. The sliding base 220 is located on the execution body 210. The mounting bracket 230 is slidably disposed on the sliding base 220 along the axial direction of the surgical cannula 240, and can move between a working position and a changing position. The mounting bracket 230 is used to fix the surgical instrument 1000. When the mounting bracket 230 is in the working position, the surgical instrument 1000 passes through the spinal endoscope 250; when the mounting bracket 230 is in the changing position, the surgical instrument 1000 is located outside the spinal endoscope 250. This arrangement enables precise movement of the surgical instrument 1000, thereby improving surgical accuracy and success rate.

[0077] In surgical procedures, various types of surgical instruments 1000 are typically used. To improve the efficiency of changing surgical instruments 1000, in this embodiment, the execution body 210 includes an execution base 211 and a rotating component 212. A first support 213 and a second support 214 are both disposed on the execution base 211. The rotating component 212 is rotatably mounted on the execution base 211. Several sliding bases 220 are provided, spaced apart around the axis of the rotating component 212. Several mounting brackets 230 are provided, with each mounting bracket 230 corresponding to one of the sliding bases 220. In some embodiments, two sliding bases 220 may be provided, and correspondingly, two mounting brackets 230 may be provided. In some embodiments, three sliding bases 220 may be provided, and correspondingly, three mounting brackets 230 may be provided.

[0078] This configuration allows several types of surgical instruments 1000 to be fixed on several mounting brackets 230 respectively. When it is necessary to change the surgical instrument 1000, the first mounting bracket 230 is moved away from the patient, the first surgical instrument 1000 is removed from the patient's body and pulled out of the spinal endoscope 250, and then by rotating the rotating component 212, the second surgical instrument 1000 is positioned facing the spinal endoscope 250, the second mounting bracket 230 is moved closer to the patient, and the second surgical instrument 1000 can be passed through the spinal endoscope 250 and moved into the patient's body.

[0079] A damping element is provided between the rotating component 212 and the actuating base 211 to provide damping for the rotation of the rotating component 212. In other embodiments, the rotation of the rotating component 212 can be automatically controlled by a driving component. The specific control method is well known to those skilled in the art, and therefore will not be described in detail here.

[0080] The execution base 211 has a circumferential fixing surface 2111, which fits into the connecting surface of the connector 126. Further, the fixing surface 2111 has a fixing groove, and the connecting surface of the connector 126 has a pin, which is inserted into the fixing groove. This structure makes the relative positional relationship between the execution base 211 and the connector 126 more precise. In some embodiments, at least two fixing grooves and at least two pins are provided, with each pin inserted into a corresponding fixing groove. Further still, the sidewall of the fixing groove is made of a magnetic material, and at least a portion of the pin is a magnet, which can be attracted to the sidewall of the fixing groove. Specifically, the magnet is ring-shaped and sleeved on the insertion body of the pin. In some embodiments, the bottom of the fixing groove is made of a magnetic material, and at least a portion of the pin is a magnet, which can be attracted to the bottom of the fixing groove. Specifically, the magnet is adhered to the end of the insertion body of the pin. The magnets make the connection between the actuating base 211 and the connector 126 more secure.

[0081] To improve the efficiency of assembling and disassembling the surgical instrument 1000 and the mounting bracket 230, the mounting bracket 230 is provided with a quick-connect interface 231 for connecting the surgical instrument 1000. The quick-connect interface 231 can be a snap-fit ​​groove, in which the surgical instrument 1000 can snap into. The surgical instrument 1000 can be, but is not limited to, energy instruments and non-energy instruments such as drilling and reaming instruments, milling instruments, planing instruments, scissor instruments, forceps instruments, and ablation instruments. In other embodiments, the quick-connect interface 231 can be an existing structure that can quickly engage with the surgical instrument 1000.

[0082] To improve surgical flexibility, in this embodiment, the surgical execution mechanism 200 further includes a rotating component and a rotation drive component. The rotating component has a fixed channel and is rotatably mounted on a second support 214 about the axis of the fixed channel. The rotation drive component is mounted on the second support 214 and is connected to the rotating component for transmission. The spinal endoscope 250 is fixed within the fixed channel. The second support 214 has a mounting hole, in which the rotating component is rotatably mounted, and the fixed channel and mounting hole are coaxially arranged. This arrangement allows the spinal endoscope 250 to rotate within the patient's body, thereby observing the situation at different locations and improving the flexibility and precision of the surgery.

[0083] Specifically, a gear ring is fitted around the rotating component, and the rotation drive is a servo motor. The output end of the servo motor is equipped with a drive gear, which meshes with the gear ring. When the output end of the servo motor rotates, power is transmitted to the rotating component through the cooperation of the drive gear and the gear ring, causing the rotating component to rotate around the axis of the fixed channel.

[0084] In addition, the second support 214 can slide along the execution base 211 to move closer to or further away from the patient. Specifically, in this embodiment, the second support 214 is fixed to the slider, the execution base 211 is provided with a slide rail, the slider is slidably mounted on the slide rail, and the driving component is located on the execution base 211 and is connected to the slider in a transmission manner.

[0085] The surgical cannula 240 can also rotate around its own axis. The specific structure for driving the surgical cannula 240 can be implemented by referring to the structure for driving the spinal endoscope 250, which will not be described in detail here.

[0086] The display carriage 500 is positioned for easy access and observation by the operator. Regarding the structure of the display carriage 500, in this embodiment, it includes a carriage frame 510 and a carriage body 520, a keyboard 530, and a display 540 mounted on the carriage frame 510. A controller is located in the carriage body 520, and the controller is communicatively connected to the keyboard 530 and the display 540. A height-adjustable bracket 531 is provided on the carriage frame 510, and the keyboard 530 is placed on the bracket 531. The operator can observe the three-dimensional model of the spine on the display 540 and plan the surgical path using the keyboard 530. Additionally, the operator can also control the movements of the robot body 100 using the keyboard 530.

[0087] Example 2

[0088] Combination Figure 5 As shown, a spinal surgery robot system includes the following surgical methods:

[0089] S100: Acquire the patient's spinal information and establish a three-dimensional model of the spine. Specifically, the patient's spine is scanned by the scanning mechanism 300; after receiving the scan information, the display carriage 500 can establish a three-dimensional model of the spine based on the scan information.

[0090] S200: A coordinate system is established based on the 3D model of the spine and the robot body 100. The binocular recognition mechanism 400 detects the positions of the patient and the robot body 100 at all times to establish a common coordinate system.

[0091] S300. The surgical path is planned based on a coordinate system and a three-dimensional model of the spine. In some embodiments, a controller within the display carriage 500 is used to automatically plan the surgical path. In some embodiments, a three-dimensional model of the spine is displayed within the display carriage 500, and the operator plans the surgical path via keyboard 530. In some embodiments, the controller within the display carriage 500 automatically plans the surgical path, and then the operator adjusts the surgical path.

[0092] S400, the robot body 100 moves the surgical execution mechanism 200 to the surgical position and adjusts it to the surgical angle based on the surgical path.

[0093] S500: The operator completes the surgery according to the position and angle of the surgical execution mechanism 200.

[0094] In this method, the position and angle of the surgical execution mechanism 200 are automatically adjusted by the spinal surgery robot system based on the planned surgical path during the operation. Compared with manual adjustment by the doctor, the final surgical position and angle are more precise, which improves the success rate and efficiency of the operation and is conducive to the smooth recovery of the patient.

[0095] The surgical procedure specifically includes the following steps:

[0096] S510, The operator completes the puncture procedure for spinal surgery.

[0097] S520, the robot body 100 moves the surgical execution mechanism 200 to the changing position.

[0098] S530, the operator installs the surgical cannula 240, spinal endoscope 250 and surgical instruments 1000 into the surgical execution mechanism 200.

[0099] S540, the robot body 100 moves the surgical execution mechanism 200 to the surgical position and adjusts it to the surgical angle.

[0100] S550, the operator completes the surgery.

[0101] Before the surgery, the patient is in position, the doctor performs preoperative preparations, and all equipment is in place and powered on. After the surgery, the robot body 100 moves the surgical execution mechanism 200 to the changing position, and the operator removes the surgical cannula 240, spinal endoscope 250, and surgical instruments 1000. The robotic arm 120 retracts to its tightest position, the robot body 100 moves to the storage position, and all equipment is powered off.

[0102] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A spinal surgery robotic system, comprising: The application relates to a robot system for performing a spinal surgery, comprising: a robot body (100) having a mechanical arm (120); a surgery performing mechanism (200) arranged at the end of the mechanical arm (120) for performing a surgery operation; a scanning mechanism (300) for scanning a patient's spine; a binocular recognition mechanism (400) for establishing a coordinate system containing the patient and the robot body (100); a display trolley (500) for receiving scanning information of the scanning mechanism (300) and capable of establishing a three-dimensional model of the spine based on the scanning information and displaying the three-dimensional model of the spine, the display trolley (500) being capable of planning a surgery path based on the coordinate system and the three-dimensional model of the spine, and the robot body (100) being capable of moving the surgery performing mechanism (200) to a surgery position and adjusting to a surgery angle based on the surgery path; the surgery performing mechanism (200) comprises: an execution body (210) having a first support (213) and a second support (214) arranged at intervals thereon, the first support (213) being used for fixing a surgery sleeve (240), and the second support (214) being used for fixing a spinal endoscope (250), the spinal endoscope (250) being arranged in the surgery sleeve (240); a sliding base (220) arranged on the execution body (210); a mounting rack (230) slidingly arranged on the sliding base (220) along the axis direction of the surgery sleeve (240), the mounting rack (230) being capable of moving between a working position and a replacement position; the mounting rack (230) is used for fixing a surgery instrument (1000), the surgery instrument (1000) being arranged in the spinal endoscope (250) when the mounting rack (230) is located at the working position, and the surgery instrument (1000) being located outside the spinal endoscope (250) when the mounting rack (230) is located at the replacement position; the execution body (210) comprises: an execution base (211), the first support (213) and the second support (214) being arranged on the execution base (211); a rotating piece (212) rotationally arranged on the execution base (211), a plurality of sliding bases (220) being arranged at intervals around the axis of the rotating piece (212), and a plurality of mounting racks (230) being arranged in one-to-one correspondence with the plurality of sliding bases (220).

2. The spinal surgery robotic system of claim 1, wherein, the mechanical arm (120) comprises: a first vertical column (121) slidingly arranged on a moving base (110) of the robot body (100) in a vertical direction; a first cross beam (122) having one end fixed to the top of the first vertical column (121); a second cross beam (123) having one end rotationally arranged on the other end of the first cross beam (122). A second vertical column (124) is provided at the other end of the second horizontal beam (123) and extends in the vertical direction; A positioning arm (125) is hingedly connected to the lower end of the second vertical column (124) and can swing around a first axis; A connecting piece (126) is hingedly connected to the other end of the positioning arm (125) and can swing around a second axis, and is used to fix the surgical execution mechanism (200); The axes of the first horizontal beam (122), the second horizontal beam (123), the first axis and the second axis are all in the horizontal direction.

3. The spinal surgery robotic system of claim 2, wherein, The first horizontal beam (122) comprises a first base beam (1221) fixed to the top of the first vertical column (121) and a first extension beam (1222) slidably connected to the first base beam (1221) at one end, and the second horizontal beam (123) is hingedly connected to the other end of the first extension beam (1222).

4. The spinal surgery robotic system of claim 3, wherein, The first base beam (1221) is provided with a sliding channel, and the first extension beam (1222) is slidably arranged in the sliding channel.

5. The spinal surgery robotic system of claim 1, wherein, The surgical execution mechanism (200) further comprises a rotating member and a rotating drive member, the rotating member has a fixing channel, the rotating member is hingedly connected to the second support (214) around the axis of the fixing channel, the rotating drive member is arranged on the second support (214) and in transmission connection with the rotating member, and the endoscopic spine (250) is fixed in the fixing channel.

6. The spinal surgery robotic system of claim 1, wherein, The mounting bracket (230) is provided with a quick connection interface (231) for connecting the surgical instrument (1000).

7. The spinal surgery robotic system of claim 1, wherein, The surgical method comprises the following steps: S100, obtaining the spine information of the patient and establishing a three-dimensional model of the spine; S200, establishing a coordinate system based on the three-dimensional model of the spine and the robot body (100); S300, planning a surgical path based on the coordinate system and the three-dimensional model of the spine; S400, the robot body (100) moves the surgical execution mechanism (200) to the surgical position and adjusts to the surgical angle based on the surgical path; S500, the operator completes the operation according to the position and angle of the surgical execution mechanism (200).

8. The spinal surgery robotic system of claim 7, wherein, The operation process comprises the following steps: S510, the operator completes the puncture operation of the spinal operation; S520, the robot body (100) moves the surgical execution mechanism (200) to the reloading position; S530, the operator installs the surgical sleeve (240), the endoscopic spine (250) and the surgical instrument (1000) on the surgical execution mechanism (200); S540, the robot body (100) moves the surgical execution mechanism (200) to the surgical position and adjusts to the surgical angle; S550, the operator completes the operation.

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